| Formations for Fast Locomotion of Metamorphic Robotic Systems (2003) | |||||||||||||||
Abstract | |||||||||||||||
| In this article we examine the problem of dynamic self-recon guration of a modular robotic system (frequently referred to as self-recon gurable or metamorphic system), to a formation aimed at reaching a speci ed target position as quickly as possible. We present a number of fast formations for both rectangular and hexagonal systems, and prove upper and lower bounds on the speed of locomotion. In particular, the formations presented here achieve a constant ratio guarantee on the time to reach a given target in the asymptotic sense. | |||||||||||||||
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