Deterministic Scaffold Assembly By Self-Reconfiguring Micro-Robotic Swarms

摘要: Abstract The self-reconfiguration of large swarms modular robotic units from one object into another is an intricate problem whose critical parameter that must be optimized the time required to perform a transformation. Various optimizations methods have been proposed accelerate transformations, as well techniques engineer shape itself, such scaffolding which creates internal structure filled with holes for easing motion modules. In this paper, we propose novel deterministic and distributed method rapidly constructing scaffold organized reserve modules placed underneath reconfiguration scene. This innovative design parameterizable has face-centered-cubic lattice made our rotating-only micro-modules. Our operates at two levels planning, scheduling construction components avoid deadlocks level, handling navigation their coordination collisions in other. We provide analysis simulations on shapes increasing level intricacy show complexity O ( N 3 ) steps subclass convex shapes, number shape. then proceed explain how solution can further extended any