{"id":283,"date":"2017-12-28T16:23:53","date_gmt":"2017-12-28T16:23:53","guid":{"rendered":"https:\/\/selfreconfigurable.com\/N3W\/?p=283"},"modified":"2018-01-02T22:49:40","modified_gmt":"2018-01-02T22:49:40","slug":"reconfiguration-planning-for-heterogeneous-self-reconfiguring-robots","status":"publish","type":"post","link":"https:\/\/selfreconfigurable.com\/?p=283","title":{"rendered":"Reconfiguration Planning for Heterogeneous Self-Reconfiguring Robots"},"content":{"rendered":"<h1><span style=\"color: #b4b89e;\"><strong>RECONFIGURATION PLANNING FOR HETEROGENEOUS SELF-RECONFIGURING ROBOTS<\/strong><\/span><\/h1>\n<div style=\"float: right; margin-right: 22px;\"><\/div>\n<p><b>Abstract:\u00a0<\/b>Current research in self-reconfiguring robots focuses predominantly\u00a0on systems of identical modules. However, allowing\u00a0modules of varying types, with different sensors,<br \/>\nfor example, is of practical interest. In this paper, we propose the development of an algorithmic basis for heterogeneous\u00a0self-reconfiguring systems. We demonstrate\u00a0algorithmic feasibility by presenting O(n2) time centralized\u00a0and O(n3) time decentralized solutions to the reconfiguration\u00a0problem for n non-identical modules. As\u00a0our centralized time bound is equal to the best published<br \/>\nhomogeneous solution, we argue that space, as opposed\u00a0to time, is the critical resource in the reconfiguration\u00a0problem. Our results encourage the development both of\u00a0applications that use\u00a0 heterogeneous self-reconfiguration,\u00a0and also heterogeneous hardware systems.<\/p>\n<p style=\"text-align: center;\"><a href=\"http:\/\/groups.csail.mit.edu\/drl\/publications\/papers\/MeltSortGrow.pdf\" target=\"_blank\" rel=\"noopener\"><strong>Read More<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>RECONFIGURATION PLANNING FOR HETEROGENEOUS SELF-RECONFIGURING ROBOTS Abstract:\u00a0Current research in self-reconfiguring robots focuses predominantly\u00a0on systems of identical modules. However, allowing\u00a0modules of varying types, with different sensors, for example, is of practical interest. In this paper, we propose the development of an algorithmic basis for heterogeneous\u00a0self-reconfiguring systems. We demonstrate\u00a0algorithmic feasibility by presenting O(n2) time centralized\u00a0and O(n3) time [&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],"tags":[],"class_list":["post-283","post","type-post","status-publish","format-standard","hentry","category-pdf-ppt-files"],"_links":{"self":[{"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/posts\/283","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=283"}],"version-history":[{"count":2,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/posts\/283\/revisions"}],"predecessor-version":[{"id":1101,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=\/wp\/v2\/posts\/283\/revisions\/1101"}],"wp:attachment":[{"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=283"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=283"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/selfreconfigurable.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=283"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}