Universal Reconfiguration of Facet-Connected Modular Robots by Pivots: The O(1) Musketeers

We present the first universal reconfiguration algorithm for transforming a modular robot between any two facet-connected square-grid configurations using pivot moves. More precisely, we show that five extra “helper” modules (“musketeers”) suffice to reconfigure the remaining n modules between any t...

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Bibliographic Details

Published in:	Algorithmica Vol. 83; no. 5; pp. 1316 - 1351
Main Authors:	Akitaya, Hugo A., Arkin, Esther M., Damian, Mirela, Demaine, Erik D., Dujmović, Vida, Flatland, Robin, Korman, Matias, Palop, Belen, Parada, Irene, Renssen, André van, Sacristán, Vera
Format:	Journal Article
Language:	English
Published:	New York Springer US 01.05.2021 Springer Nature B.V
Subjects:	Algorithm Analysis and Problem Complexity Algorithms Computer Science Computer Systems Organization and Communication Networks Configurations Data Structures and Information Theory Mathematics of Computing Modules Reconfiguration Robots Theory of Computation Pivoting squares Geometric algorithms Modular robots Reconfiguration
ISSN:	0178-4617, 1432-0541
Online Access:	Get full text
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