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Distributed replication algorithms for self-reconfiguring modular robots

  • Zack Butler
  • Satoshi Murata
  • Daniela Rus

Abstract

Self-reconfiguring modular robots have the ability to reform themselves into a wide variety of different shapes to accomplish their tasks. In addition, a group of self-reconfiguring modules can divide up into several smaller groups to perform operations (such as exploration) in parallel. In either instance, due to the large number of independent modules in the system, distributed algorithms are highly desirable. In this paper, we describe a set of homogeneous distributed algorithms for self-reconfiguring modular robots that allow division and locomotion in two and three dimensional systems as well as recombination in two dimensions. The algorithms are written in a rule-based style inspired by cellular automata, and allow for the development of correctness analyses, which are also presented here.

Keywords

Cellular Automaton Division Rule Modular Robot Locomotion Task Small Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Tokyo 2002

Authors and Affiliations

  • Zack Butler
    • 1
  • Satoshi Murata
    • 2
  • Daniela Rus
    • 1
  1. 1.Dartmouth CollegeHanoverUSA
  2. 2.Tokyo Institute of TechnologyTokyoJapan

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