Related papers: Input-Sensitive Reconfiguration of Sliding Cubes
In the modular robot reconfiguration problem, we are given $n$ cube-shaped modules (or robots) as well as two configurations, i.e., placements of the $n$ modules so that their union is face-connected. The goal is to find a sequence of moves…
The sliding cubes model is a well-established theoretical framework that supports the analysis of reconfiguration algorithms for modular robots consisting of face-connected cubes. The best algorithm currently known for the reconfiguration…
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…
We present the first universal reconfiguration algorithm for transforming a modular robot between any two facet-connected square-grid configurations using pivot moves. More precisely, we show that five extra "helper" modules ("musketeers")…
We study the classic sliding cube model for programmable matter under parallel reconfiguration in three dimensions, providing novel algorithmic and surprising complexity results in addition to generalizing the best known bounds from two to…
The sliding square model is a widely used abstraction for studying self-reconfigurable robotic systems, where modules are square-shaped robots that move by sliding or rotating over one another. In this paper, we propose a novel distributed…
We consider algorithmic problems motivated by modular robotic reconfiguration in the sliding square model, in which we are given $n$ square-shaped modules in a (labeled or unlabeled) start configuration and need to find a schedule of…
A well-established theoretical model for modular robots in two dimensions are edge-connected configurations of square modules, which can reconfigure through so-called sliding moves. Dumitrescu and Pach [Graphs and Combinatorics, 2006]…
We give both efficient algorithms and hardness results for reconfiguring between two connected configurations of modules in the hexagonal grid. The reconfiguration moves that we consider are "pivots", where a hexagonal module rotates around…
We present a decentralized model for autonomous reconfiguration of homogeneous pivoting cube modular robots in two dimensions. Each cube in the ensemble is controlled by a neural network that only gains information from other cubes in its…
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…
We study a new model of 3-dimensional modular self-reconfigurable robots Rhombic Dodecahedral (RD). By extending results on the 2D analog of this model we characterize the free space requirements for a pivoting move and investigate the…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
We consider geometric collision-detection problems for modular reconfigurable robots. Assuming the nodes (modules) are connected squares on a grid, we investigate the complexity of deciding whether collisions may occur, or can be avoided,…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
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…
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…
Coordination of movement and configuration in robotic swarms is a challenging endeavor. Deciding when and where each individual robot must move is a computationally complex problem. The challenge is further exacerbated by difficulties…
We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure. This robot can pick up, carry, or drop…