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{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,5,14]],"date-time":"2024-05-14T06:35:47Z","timestamp":1715668547393},"reference-count":35,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2011,1,14]],"date-time":"2011-01-14T00:00:00Z","timestamp":1294963200000},"content-version":"unspecified","delay-in-days":13,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2011,1]]},"abstract":"SUMMARY<\/jats:title>In this paper, we propose novel algorithms for reconfiguring modular robots that are composed ofn<\/jats:italic>atoms. Each atom has the shape of a unit cube and can expand\/contract each face by half a unit, as well as attach to or detach from faces of neighboring atoms. For universal reconfiguration, atoms must be arranged in 2 \u00d7 2 \u00d7 2 modules. We respect certain physical constraints: each atom reaches at most constant velocity and can displace at most a constant number of other atoms. We assume that one of the atoms has access to the coordinates of atoms in the target configuration.<\/jats:p>Our algorithms involve a total ofO<\/jats:italic>(n<\/jats:italic>2<\/jats:sup>) atom operations, which are performed inO<\/jats:italic>(n<\/jats:italic>) parallel steps. This improves on previous reconfiguration algorithms, which either useO<\/jats:italic>(n<\/jats:italic>2<\/jats:sup>) parallel steps or do not respect the constraints mentioned above. In fact, in the settings considered, our algorithms are optimal. A further advantage of our algorithms is that reconfiguration can take place within the union of the source and target configuration space, and only requires local communication.<\/jats:p>","DOI":"10.1017\/s026357471000072x","type":"journal-article","created":{"date-parts":[[2011,1,14]],"date-time":"2011-01-14T15:37:39Z","timestamp":1295019459000},"page":"59-71","source":"Crossref","is-referenced-by-count":8,"title":["Efficient constant-velocity reconfiguration of crystalline robots"],"prefix":"10.1017","volume":"29","author":[{"given":"Greg","family":"Aloupis","sequence":"first","affiliation":[]},{"given":"S\u00e9bastien","family":"Collette","sequence":"additional","affiliation":[]},{"given":"Mirela","family":"Damian","sequence":"additional","affiliation":[]},{"given":"Erik D.","family":"Demaine","sequence":"additional","affiliation":[]},{"given":"Robin","family":"Flatland","sequence":"additional","affiliation":[]},{"given":"Stefan","family":"Langerman","sequence":"additional","affiliation":[]},{"given":"Joseph","family":"O'Rourke","sequence":"additional","affiliation":[]},{"given":"Val","family":"Pinciu","sequence":"additional","affiliation":[]},{"given":"Suneeta","family":"Ramaswami","sequence":"additional","affiliation":[]},{"given":"Vera","family":"Sacrist\u00e1n","sequence":"additional","affiliation":[]},{"given":"Stefanie","family":"Wuhrer","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2011,1,14]]},"reference":[{"key":"S026357471000072X_ref18","first-page":"1","volume-title":"RoboComm '07: Proceedings of the 1st International Conference on Robot Communication and Coordination","author":"Kurokawa","year":"2007"},{"key":"S026357471000072X_ref26","first-page":"32","article-title":"Distributed task negotiation in modular robots","volume":"21","author":"Salemi","year":"2003","journal-title":"J. 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Chirikjian G. , \u201cKinematics of a Metamorphic Robotic System,\u201d Proceedings of the IEEE International Conference on Robotic Automation (May 8\u201313, 1994) pp. 449\u2013455."},{"key":"S026357471000072X_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.806230"},{"key":"S026357471000072X_ref15","first-page":"2858","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Hosokawa","year":"1998"},{"key":"S026357471000072X_ref28","first-page":"4095","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Suh","year":"2002"},{"key":"S026357471000072X_ref29","volume-title":"Proceedings of the 5th International Symposium on Distributed Autonomous Robotic Systems","author":"\u00dcnsal","year":"2000"},{"key":"S026357471000072X_ref20","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/MRA.2007.339607","article-title":"Self-reconfigurable robots: Shape-changing cellular robots can exceed conventional robot flexibility","volume":"14","author":"Murata","year":"2007","journal-title":"IEEE Robot. Autom. Mag."},{"key":"S026357471000072X_ref4","doi-asserted-by":"crossref","unstructured":"4. Aloupis G. , Collette S. , Demaine E. D. , Langerman S. , Sacrist\u00e1n V. and Wuhrer S. , \u201cReconfiguration of Cube-Style Modular Robots Using O(logn) Parallel Moves,\u201d Proceedings of the International Symposium on Algorithms and Computation (ISAAC 2008), volume 5369 of LNCS, (2008b) pp. 342\u2013353.","DOI":"10.1007\/978-3-540-92182-0_32"},{"key":"S026357471000072X_ref31","unstructured":"31. Walter J. E. , Tsai E. M. and Amato N. M. , Choosing Good Paths for Fast Distributed Reconfiguration of Hexagonal Metamorphic Robots,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), (2002) pp. 102\u2013109."},{"key":"S026357471000072X_ref21","first-page":"441","volume-title":"Proceedings of the IEEE International Conferance Robotic Automation","author":"Murata","year":"1994"},{"key":"S026357471000072X_ref32","volume-title":"Proceedings of the IEEE International Conference Robotic Automation","author":"Yim","year":"1994"},{"key":"S026357471000072X_ref2","first-page":"433","volume-title":"8th International Workshop on the Algorithmic Foundations of Robotics (WAFR)","author":"Aloupis","year":"2008"},{"key":"S026357471000072X_ref24","volume-title":"Robotics: Science and Systems Conference, Georgia Institute of Technology","author":"Reif","year":"2007"},{"key":"S026357471000072X_ref16","unstructured":"16. J\u00f8rgensen M. W. , \u00d8stergaard E. H. and Lund H. H. , \u201cModular ATRON: Modules for a Self-Reconfigurable Robot,\u201d Proceedings of the of the International Conference on Intelligient Robots and Systems (2004) pp. 2068\u20132073."},{"key":"S026357471000072X_ref14","doi-asserted-by":"publisher","DOI":"10.1007\/BF00437320"},{"key":"S026357471000072X_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.comgeo.2008.11.003"},{"key":"S026357471000072X_ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908089349"},{"key":"S026357471000072X_ref19","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907085560"},{"key":"S026357471000072X_ref13","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199605)13:5<317::AID-ROB5>3.0.CO;2-T"},{"key":"S026357471000072X_ref17","first-page":"2184","volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems","author":"Kotay","year":"2000"},{"key":"S026357471000072X_ref7","first-page":"790","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Butler","year":"2001"},{"key":"S026357471000072X_ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2005.09.017"},{"key":"S026357471000072X_ref30","unstructured":"30. 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