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Finding Shortest Reconfiguration Sequences for Modular Robots (Media Exposition)

Authors UML Modular Robotics Group, Hugo A. Akitaya , Andrew Clements, Sam Downey, Jonathan Eisenbies, Soham Samanta, Gabriel Shahrouzi, Frederick Stock

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Subject Classification

ACM Subject Classification
  • Theory of computation → Computational geometry
Keywords
  • modular reconfigurable robots
  • sliding cube model
  • reconfiguration

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Abstract

This paper introduces a set of tools built to help researchers design algorithms for modular robots. These tools can brute force solutions to specific reconfigurations, visualize movements of modular robots, and can be used to design specific configurations of robots. Multiple models of modular robots are supported, and can be added by users.

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UML Modular Robotics Group, Hugo A. Akitaya, Andrew Clements, Sam Downey, Jonathan Eisenbies, Soham Samanta, Gabriel Shahrouzi, and Frederick Stock. Finding Shortest Reconfiguration Sequences for Modular Robots (Media Exposition). In 41st International Symposium on Computational Geometry (SoCG 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 332, pp. 85:1-85:5, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025) https://doi.org/10.4230/LIPIcs.SoCG.2025.85

Author Details

UML Modular Robotics Group
  • University of Massachusetts Lowell, MA, USA
Hugo A. Akitaya
  • University of Massachusetts Lowell, MA, USA
Andrew Clements
  • University of Massachusetts Lowell, MA, USA
Sam Downey
  • University of Massachusetts Lowell, MA, USA
Jonathan Eisenbies
  • University of Massachusetts Lowell, MA, USA
Soham Samanta
  • Greater Commonwealth Virtual School, Medford, MA, USA
Gabriel Shahrouzi
  • University of Massachusetts Lowell, MA, USA
Frederick Stock
  • University of Massachusetts Lowell, MA, USA

Funding

Research supported by the NSF award CCF-2348067.

References

  1. Hugo A. Akitaya, Erik D. Demaine, Andrei Gonczi, Dylan H. Hendrickson, Adam Hesterberg, Matias Korman, Oliver Korten, Jayson Lynch, Irene Parada, and Vera Sacristán. Characterizing Universal Reconfigurability of Modular Pivoting Robots. In Kevin Buchin and Éric Colin de Verdière, editors, 37th International Symposium on Computational Geometry (SoCG 2021), volume 189 of Leibniz International Proceedings in Informatics (LIPIcs), pages 10:1-10:20, Dagstuhl, Germany, 2021. Schloss Dagstuhl - Leibniz-Zentrum für Informatik. URL: https://doi.org/10.4230/LIPICS.SOCG.2021.10.
  2. Zachary Abel, Hugo A. Akitaya, Scott Duke Kominers, Matias Korman, and Frederick Stock. A universal in-place reconfiguration algorithm for sliding cube-shaped robots in a quadratic number of moves. In Wolfgang Mulzer and Jeff M. Phillips, editors, 40th International Symposium on Computational Geometry (SoCG 2024), pages 1:1-1:14. Schloss Dagstuhl - Leibniz-Zentrum für Informatik, 2024. URL: https://doi.org/10.4230/LIPIcs.SoCG.2024.1.
  3. Hugo A. Akitaya, Esther M. Arkin, Mirela Damian, Erik D. Demaine, Vida Dujmović, Robin Flatland, Matias Korman, Belen Palop, Irene Parada, André van Renssen, and Vera Sacristán. Universal reconfiguration of facet-connected modular robots by pivots: the O(1)-musketeers. Algorithmica, 83(5):1316-1351, 2021. URL: https://doi.org/10.1007/S00453-020-00784-6.
  4. Hugo A. Akitaya and Frederick Stock. Reconfiguration of 3D pivoting modular robots. arXiv preprint arXiv:2304.09990, 2023. URL: https://doi.org/10.48550/arXiv.2304.09990.
  5. Adrian Dumitrescu and János Pach. Pushing Squares Around. In Proceedings of the twentieth annual symposium on Computational geometry, pages 116-123, 2004. URL: https://doi.org/10.1145/997817.997838.
  6. Adrian Dumitrescu, Ichiro Suzuki, and Masafumi Yamashita. Motion planning for metamorphic systems: feasibility, decidability, and distributed reconfiguration. IEEE Transactions on Robotics and Automation, 20(3):409-418, 2004. URL: https://doi.org/10.1109/TRA.2004.824936.
  7. Robert Fitch, Zack Butler, and Daniela Rus. Reconfiguration planning for heterogeneous self-reconfiguring robots. In Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)(Cat. No. 03CH37453), volume 3, pages 2460-2467. IEEE, 2003. URL: https://doi.org/10.1109/IROS.2003.1249239.
  8. Cynthia Sung, James Bern, John Romanishin, and Daniela Rus. Reconfiguration planning for pivoting cube modular robots. In 2015 IEEE international conference on robotics and automation (ICRA), pages 1933-1940. IEEE, 2015. URL: https://doi.org/10.1109/ICRA.2015.7139451.
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