State complexes for metamorphic robots
| dc.creator | Abrams, A. | |
| dc.creator | Ghrist, R. | |
| dc.date | 2003-07-02 | |
| dc.date.accessioned | 2026-07-07T03:19:59Z | |
| dc.date.available | 2026-07-07T03:19:59Z | |
| dc.description | A metamorphic robotic system is an aggregate of homogeneous robot units which can individually and selectively locomote in such a way as to change the global shape of the system. We introduce a mathematical framework for defining and analyzing general metamorphic robots. This formal structure, combined with ideas from geometric group theory, leads to a natural extension of a configuration space for metamorphic robots -- the state complex -- which is especially adapted to parallelization. We present an algorithm for optimizing reconfiguration sequences with respect to elapsed time. A universal geometric property of state complexes -- non-positive curvature -- is the key to proving convergence to the globally time-optimal solution. | |
| dc.description | 19 pages; based on paper presented at Workshop in Algorithmic Foundations of Robotics, December 2002 | |
| dc.identifier | https://arxiv.org/abs/cs/0307004 | |
| dc.identifier | http://arxiv.org/abs/cs/0307004 | |
| dc.identifier.uri | http://salesiana.dossiersoluciones.com/handle/123456789/31679 | |
| dc.subject | Robotics | |
| dc.subject | Computational Geometry | |
| dc.subject | I.2.9 | |
| dc.title | State complexes for metamorphic robots | |
| dc.type | text |