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Reconfiguring Non-Convex Holes In Pivoting Modular Cube Robots, Daniel Adam Feshbach, Cynthia Sung Jul 2021

Reconfiguring Non-Convex Holes In Pivoting Modular Cube Robots, Daniel Adam Feshbach, Cynthia Sung

Lab Papers (GRASP)

We present an algorithm for self-reconfiguration of admissible 3D configurations of pivoting modular cube robots with holes of arbitrary shape and number. Cube modules move across the surface of configurations by pivoting about shared edges, enabling configurations to reshape themselves. Previous work provides a reconfiguration algorithm for admissible 3D configurations containing no non-convex holes; we improve upon this by handling arbitrary admissible 3D configurations. The key insight specifies a point in the deconstruction of layers enclosing non-convex holes at which we can pause and move inner modules out of the hole. We prove this happens early enough to maintain connectivity ...