Scalable Shape Sculpting via Hole Motion: Motion Planning in Lattice-Constrained Module Robots

 

In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06)

Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai

May, 2006

Abstract


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@inproceedings{derosa-icra06,
  author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
     and Campbell, Jason D. and Pillai, Padmanabhan},
  title = {Scalable Shape Sculpting via Hole Motion: Motion Planning
     in Lattice-Constrained Module Robots},
  month = {May},
  booktitle = {Proceedings of the 2006 {IEEE} International Conference
     on Robotics and Automation (ICRA '06)},
  year = {2006},
  keywords = {Claytronics, Programmable Matter, Planning, Modular
     Robotics},
  url = {http://www.cs.cmu.edu/~seth/papers/derosa-icra06.pdf},
  abstract = {We describe a novel shape formation algorithm for
     ensembles of 2-dimensional lattice-arrayed modular robots, based
     on the manipulation of regularly shaped voids within the lattice
     (``holes''). The algorithm is massively parallel and fully
     distributed. Constructing a goal shape requires time propor-
     tional only to the complexity of the desired target geometry.
     Construction of the shape by the modules requires no global
     communication nor broadcast floods after distribution of the
     target shape. Results in simulation show 97.3\% shape compliance
     in ensembles of approximately 60,000 modules, and we believe that
     the algorithm will generalize to 3D and scale to handle millions
     of modules.}
}

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