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Self-reconfigurable robots are versatile systems consisting of large
numbers of independent modules. Effective use of these systems
requires parallel actuation and planning, both for efficiency and
independence from a central controller. This paper presents the
PacMan algorithm, a technique for distributed actuation and planning
for systems with two- or three-dimensional unit-compressible modules.
We give two versions of the algorithm along with correctness analysis.
We also analyze the parallel actuation capability of the algorithm,
showing that it will not deadlock and will avoid disconnecting the
robot. We have implemented PacMan on the Crystal robot, a hardware
system developed in our lab, and we present experiments and discuss
the feasibility of large-scale implementation.
Bibliographic citation for this report: [plain text] [BIB] [BibTeX] [Refer]
Or copy and paste:
Zack Butler and Daniela Rus, "Distributed planning and control for modular robots with unit-compressible modules." Dartmouth Computer Science Technical Report TR2003-462, June 2003.
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