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Proceedings Paper

Distributed reconfiguration of hexagonal metamorphic robots in two dimensions
Author(s): Jennifer E. Walter; Jennifer L. Welch; Nancy M. Amato
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Paper Abstract

The problem addressed in the distributed reconfiguration of a metamorphic robotic system composed of any number of two dimensional hexagonal modules from specific initial to specific goal configurations. The initial configuration considered is a straight chain of modules, while the goal configurations considered satisfy a more general admissibility condition. A centralized algorithm is described for determining whether an arbitrary goal configuration is admissible. The main result of the paper is a distributed algorithm for reconfiguring a straight chain into an admissible goal configuration. Different heuristics are proposed to improve the performance of the reconfiguration algorithm and simulation results demonstrate the use of these heuristics.

Paper Details

Date Published: 16 October 2000
PDF: 13 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403743
Show Author Affiliations
Jennifer E. Walter, Texas A&M Univ. (United States)
Jennifer L. Welch, Texas A&M Univ. (United States)
Nancy M. Amato, Texas A&M Univ. (United States)


Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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