Enveloping obstacles with hexagonal metamorphic robots

Walter, Jennifer E.; Tsai, E.M.; Amato, Nancy M.

doi:10.1109/robot.2003.1241682

Cited by 3 publications

(1 citation statement)

References 21 publications

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“…A combination graph traversal-weighting algorithm was proposed which traverses all the paths rooted in the DAG and determines the best substrate path. This problem also was studied in [120] with the presence of a single obstacle embedded in the goal environment.…”

Section: Motion Planning (Self-reconfiguration)mentioning

confidence: 99%

Connected Line Recovery and Maintenance by Programmable Matter

Nokhanji¹

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Several different distributed computational universes have been considered and studied within the interdisciplinary field called Programmable Matter. In this field, the matter is envisioned as a very large number of micro and nano-sized computational entities with limited capabilities programmed to collectively perform a task without the need for any central or external intervention. Within distributed computing, several theoretical active and hybrid models for programmable matter have been proposed. Within these models, a central concern has been the formation of geometric shapes; among them, the line is especially important. An important requirement, common to most research, is the connectivity of the operating elements at all times.

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Section: Motion Planning (Self-reconfiguration)mentioning

confidence: 99%

Connected Line Recovery and Maintenance by Programmable Matter

Nokhanji¹

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Using hexagonal metamorphic robots to form temporary bridges

Little

Walter

2005

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents algorithms to plan the concurrent and collision-free movement of n hexagonal metamorphic robots (modules) over a contiguous surface in a hexagonal grid. The problem is complicated by the fact that the surface may include "non-concurrently traversable" segments, where narrow passages between surface cells may result in module collision, regardless of the space separating moving modules.We present a new algorithm to identify unoccupied cells that, when filled with modules, form bridges to span all nonconcurrently traversable segments of the surface. Our bridging algorithms have the added benefit of reducing the overall traversal time for a given surface. Additionally, we show that four modules are sufficient to bridge any contiguous non-concurrently traversable segment, allowing concurrent module movement with minimal inter-module spacing. Finally, we present the results of simulating our algorithms using a discrete event simulator.

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Enveloping multi-pocket obstacles with hexagonal metamorphic robots

Walter

Brooks²,

Little

et al. 2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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Abslracl-The problem addressed is reconfiguration planning for a metamorphic robotic system composed of any number of hexagonal robots when a single obstacle with multiple indentations or "pockets" is embedded in the goal environment.We extend our earlier work on filling a single pocket in an obstacle to the case where the obstacle surface may contain multiple pockets. The planning phase of our algorithm first determines whether the obstacle pockets provide sufficient clearance for module movement, i.e., whether the obstacle is "admissible''. In this paper, we present algorithms that sequentially order indhidoal pockets and order module placement inside each pocker These algorithms ensure that every cell in each pocket is filled and that module deadlock and collision do not occur during reeonfiguration. This paper also provjdes a complete o%eniew of the planning stage that is executed prior to reconfiguration and presents a distributed reconfiguration schema for filling more than one obstacle pocket concurrently, followed by the envelopment of the entire obstacle. Lastly, we present examples of obstacles with multiple pockets that were successfullj filled using our distributed reconfiguration simulator.

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Enveloping obstacles with hexagonal metamorphic robots

Cited by 3 publications

References 21 publications

Connected Line Recovery and Maintenance by Programmable Matter

Connected Line Recovery and Maintenance by Programmable Matter

Using hexagonal metamorphic robots to form temporary bridges

Enveloping multi-pocket obstacles with hexagonal metamorphic robots

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