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This paper studies a reconfiguration algorithm for heterogeneous cubic modular robots in environments with obstacles. Tunneling is suitable for the transformation of cubic modular robots in such an environment because a tunneling robot only passes spaces that are occupied by the robot in the start and goal configurations. We have also designed a permutation algorithm that can be executed in the space...
This paper presents a reconfiguration algorithm for a robot composed of sliding cube modules with a limited motion primitive. We assume that a cube module is not allowed to make convex motions around other modules but is allowed to slide across other modules' surfaces. Such a motion primitive limitation complicates the development of the reconfiguration algorithm; however, it simplifies the design...
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