Pushing squares around

@article{Dumitrescu2004PushingSA,
  title={Pushing squares around},
  author={Adrian Dumitrescu and J{\'a}nos Pach},
  journal={Graphs and Combinatorics},
  year={2004},
  volume={22},
  pages={37-50}
}
We study dynamic self-reconfiguration of modular metamorphicsystems. We guarantee the feasibility of motion planning in a rectangular model consisting of square modules that are allowed to slide along or rotate about one another. That is, we show that any two connected configurations of the same numberof modules can be transformed into each other by a sequence ofmoves so that all intermediate configurations are connected. This settles a conjecture formulated in [6]. 

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