Abstract
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.
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Support for this work was provided by NSF awards EIA-9901589, IIS-9818299, IIS-9912193, EIA-0202789 and 0225446, and ONR award N00014-01-1-0675.
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Fitch, R., Butler, Z., Rus, D. (2007). In-Place Distributed Heterogeneous Reconfiguration Planning. In: Alami, R., Chatila, R., Asama, H. (eds) Distributed Autonomous Robotic Systems 6. Springer, Tokyo. https://doi.org/10.1007/978-4-431-35873-2_16
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DOI: https://doi.org/10.1007/978-4-431-35873-2_16
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-35869-5
Online ISBN: 978-4-431-35873-2
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