Universal Reconfiguration of (Hyper-)cubic Robots

Details Universal Reconfiguration of (Hyper-)cubic Robots Universal Reconfiguration of (Hyper-)cubic Robots

2008-02-23

arxiv.org/abs/0802.3414v3

Computer Science

Computational Geometry

5 pages, 2 figures

Scientific paper

We study a simple reconfigurable robot model which has not been previously examined: cubic robots comprised of three-dimensional cubic modules which can slide across each other and rotate about each others' edges. We demonstrate that the cubic robot model is universal, i.e., that an n-module cubic robot can reconfigure itself into any specified n-module configuration. Additionally, we provide an algorithm that efficiently plans and executes cubic robot motion. Our results directly extend to a d-dimensional model.

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