Abstract
In this paper, we define Proteo as a class of three-dimensional (3D) metamorphic robotic system capable of approximating arbitrary 3D shapes by utilizing repeated modules. Each Proteo module contains embedded sensors, actuators and a controller, and each resides in a 3D grid space. A module can move itself to one of its open neighbor sites under certain motion constraints. Distributed control for the self-reconfiguration of such robots is an interesting and challenging problem. We present a class of distributed control algorithms for the reconfiguration of Proteo robots based on the “goal-ordering” mechanism. Performance results are shown for experiments of these algorithms in a simulation environment, and the properties of these algorithms are analyzed.
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Yim, M., Zhang, Y., Lamping, J. et al. Distributed Control for 3D Metamorphosis. Autonomous Robots 10, 41–56 (2001). https://doi.org/10.1023/A:1026544419097
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DOI: https://doi.org/10.1023/A:1026544419097