In-Place Distributed Heterogeneous Reconfiguration Planning
This paper describes a distributed planner that allows a self-reconfiguring robot consisting of heterogeneous modules to change configuration without using extra space. This work builds on previous work on reconfiguration planning for homogeneous robots and our recent work on heterogeneous reconfiguration planning that requires temporary working space to execute. Motivated by a specific algorithm for the distributed Crystal robot, we describe and analyze an O(n 2)-time reconfiguration algorithm for systems of modules with assigned types that uses a constrained amount of free space.
KeywordsDartmouth College Extra Space Modular Robot Straight Line Path Goal Configuration
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