A Simple and Strong Algorithm for Reconfiguration of Hexagonal Metamorphic Robots

摘要

In this paper, we propose a reconfiguration algorithm for planar hexagonal metamorphic robot systems. We consider a distributed reconfiguration algorithm that doesn't need any preprocessing or global communications. Additionally, our algorithm requires only little communication among adjacent modules. Our algorithm has no constraints on initial and goal configurations and no preprocessing steps. For this algorithm, we propose a new classification method for neighbor contact patterns which is easy to extend for various neighbor groups.