4 accepted papers
Metamorphic robots have gained the attention of many researchers due to their ability to change shape and adapt to various tasks. In order to utilize the versatility of metamorphic systems, we need to be able to find a shape-shifting (reconfiguration) plan efficiently; however, finding these plans i…
We present a new approach to tackle the problem of metamorphic robots' reconfiguration. Given the chain-type metamorphic robot's initial and target configuration, we compute a reconfiguration plan that is provably physically collision-free. Our solution employs a specific heuristic. The robot initia…
We present a new approach to tackle the problem of lattice-type metamorphic robots reconfiguration. We base our approach on a reduction to satisfiability modulo theory (SMT). Unlike the current state-of-the-art solutions, we consider the spatial limitations of the modules themselves and produce coll…
We present RoFICoM, a new retractable connection device that allows for mechanical, electric, and data communication connection between separable robotic modules. The device is intentionally designed to be used in lattice-type metamorphic robots, however, its applicability is much wider. The main no…