{"id":265,"date":"2017-12-28T15:58:36","date_gmt":"2017-12-28T15:58:36","guid":{"rendered":"https:\/\/selfreconfigurable.com\/N3W\/?p=265"},"modified":"2018-01-02T22:51:25","modified_gmt":"2018-01-02T22:51:25","slug":"concurrent-metamorphosis-of-hexagonal-robot-chains-into-simple-connected-configurations","status":"publish","type":"post","link":"https:\/\/selfreconfigurable.com\/?p=265","title":{"rendered":"Concurrent metamorphosis of hexagonal robot chains into simple connected configurations"},"content":{"rendered":"<h1><span style=\"color: #b4b89e;\"><strong>CONCURRENT METAMORPHOSIS OF HEXAGONAL ROBOT CHAINS INTO SIMPLE CONNECTED CONFIGURATIONS\u00a0<\/strong><\/span><\/h1>\n<div style=\"float: right; margin-right: 22px;\"><\/div>\n<p><strong>Abstract:<\/strong>\u00a0The problem addressed is the distributed reconfiguration of a metamorphic robotic system composed of an arbitrary number of two dimensional hexagonal robots (modules) from specific initial to specific goal configurations. The initial configuration considered is a straight chain of robotic modules, while the goal configurations considered satisfy a more general \u201cadmissibility\u201d condition. A centralized algorithm is described for determining whether an arbitrary goal configuration is admissible. We prove this algorithm correctly identifies admissible goal configurations and finds a \u201csubstrate path\u201d within the goal configuration along which the modules can move to reach their positions in the goal. A second 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.<\/p>\n<p style=\"text-align: center;\"><a href=\"https:\/\/www.cs.vassar.edu\/~walter\/ieeetra.pdf\" target=\"_blank\" rel=\"noopener\"><strong>Read More<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>CONCURRENT METAMORPHOSIS OF HEXAGONAL ROBOT CHAINS INTO SIMPLE CONNECTED CONFIGURATIONS\u00a0 Abstract:\u00a0The problem addressed is the distributed reconfiguration of a metamorphic robotic system composed of an arbitrary number of two dimensional hexagonal robots (modules) from specific initial to specific goal configurations. The initial configuration considered is a straight chain of robotic modules, while the goal configurations [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[11,20],"tags":[],"class_list":["post-265","post","type-post","status-publish","format-standard","hentry","category-pdf-ppt-files","category-spotlight-post-pdf-ppt-files"],"_links":{"self":[{"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/posts\/265","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=265"}],"version-history":[{"count":2,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/posts\/265\/revisions"}],"predecessor-version":[{"id":1111,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/posts\/265\/revisions\/1111"}],"wp:attachment":[{"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=265"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=265"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=265"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}