Accession Number:

AD1014982

Title:

Generic Distributed Assembly and Repair Algorithms for Self-Reconfiguring Robots

Descriptive Note:

Conference Paper

Corporate Author:

Massachusetts Institute of Technology Cambridge United States

Personal Author(s):

Report Date:

2004-10-02

Pagination or Media Count:

8.0

Abstract:

In this paper we present generic distributed algorithms for assembling and repairing shapes using modular self-reconfiguring robots. The algorithms work in the sliding cube model. Each module independently evaluates a set of local rules using different evaluation models. Two methods are used to determine the correctness of the algorithmsa graph analysis technique which can prove the rule set is correct for specific instances of the algorithm, and a statistical technique which can produce arbitrary bounds on the likelihood that the rule set functions correctly. An extension of the assembly algorithm can be used to produce arbitrary non-cantilevered convex shapes without holes. The algorithms have been implemented and evaluated in simulation.

Subject Categories:

Distribution Statement:

APPROVED FOR PUBLIC RELEASE