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We are considering the geometric amoebot model where a set of $n$ amoebots is placed on the triangular grid. An amoebot is able to send information to its neighbors, and to move via expansions and contractions. Since amoebots and…
In programmable matter, we consider a large number of tiny, primitive computational entities called particles that run distributed algorithms to control global properties of the particle structure. Shape formation problems, where the…
We consider an extension to the geometric amoebot model that allows amoebots to form so-called \emph{circuits}. Given a connected amoebot structure, a circuit is a subgraph formed by the amoebots that permits the instant transmission of…
We study centralized reconfiguration problems for geometric amoebot structures. A set of $n$ amoebots occupy nodes on the triangular grid and can reconfigure via expansion and contraction operations. We focus on the joint movement…
The concept of programmable matter envisions a very large number of tiny and simple robot particles forming a smart material. Even though the particles are restricted to local communication, local movement, and simple computation, their…
The decomposition of complex structures into simpler substructures is a powerful technique with a wide range of applications. We study the computation of decompositions in the context of programmable matter. The amoebot model is a…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
In this paper, we study the computation of shortest paths within the \emph{geometric amoebot model}, a commonly used model for programmable matter. Shortest paths are essential for various tasks and therefore have been heavily investigated…
Reconfigurable robot swarms are capable of connecting with each other to form complex structures. Current mechanical or magnetic connection mechanisms can be complicated to manufacture, consume high power, have a limited load-bearing…
The amoebot model abstracts active programmable matter as a collection of simple computational elements called amoebots that interact locally to collectively achieve tasks of coordination and movement. Since its introduction at SPAA 2014, a…
The paper presents a new formal way of modeling and designing reconfigurable robots, in which case the robots are allowed to reconfigure not only structurally but also functionally. We call such kind of robots "self-evolvable", which have…
Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…
Autonomous reconfiguration of agent-based systems is a key challenge in the study of programmable matter, distributed robotics, and molecular self-assembly. While substantial prior work has focused on size-preserving transformations, much…
We introduce the \emph{graphical reconfigurable circuits (GRC)} model as an abstraction for distributed graph algorithms whose communication scheme is based on local mechanisms that collectively construct long-range reconfigurable channels…
We investigate computational issues in the distributed model Amoebots of programmable matter. In this model, the computational entities, called particles, are anonymous finite-state machines that operate and move on an hexagonal tasselation…
We consider programmable matter consisting of simple computational elements, called particles, that can establish and release bonds and can actively move in a self-organized way, and we investigate the feasibility of solving fundamental…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Shape formation is a basic distributed problem for systems of computational mobile entities. Intensively studied for systems of autonomous mobile robots, it has recently been investigated in the realm of programmable matter. Namely, it has…
Over three decades of scientific endeavors to realize programmable matter, a substance that can change its physical properties based on user input or responses to its environment, there have been many advances in both the engineering of…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…