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Reconfiguration of cube-style modular robots using O(logn) parallel moves
Aloupis, Greg; Collette, Sébastien; Demaine, Erik D.; Langerman, Stefan; Sacristán Adinolfi, Vera; Wuhrer, Stefanie
Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada II; Universitat Politècnica de Catalunya. DCCG - Grup de recerca en geometria computacional, combinatoria i discreta
We consider a model of reconfigurable robot, introduced and prototyped by the robotics community. The robot consists of independently manipulable unit-square atoms that can extend/contract arms on each side and attach/detach from neighbors. The optimal worst-case number of sequential moves required to transform one connected configuration to another was shown to be Θ(n) at ISAAC 2007. However, in principle, atoms can all move simultaneously. We develop a parallel algorithm for reconfiguration that runs in only O(log n) parallel steps, although the total number of operations increases slightly to Θ(n log n). The result is the first (theoretically) almost-instantaneous universally reconfigurable robot built from simple units.
Àrees temàtiques de la UPC::Matemàtiques i estadística::Geometria::Geometria computacional
Parallel algorithms
Computational geometry
Algorismes paral·lels
Geometria computacional
Attribution-NonCommercial-NoDerivs 3.0 Spain
Lecture Notes in Computer Science LNCS 5369, Springer-Verlag

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