Distributed algorithms for shape sculpting of lattice-arrayed modular robots via hole motion

A self-reconfigurable modular robot can change its own shape by rearranging the connectivity of the modules of which it is composed. In this paper, we focus on a two-dimensional lattice-arrayed self-reconfigurable modular robotic system. Each module can move to a neighboring lattice under certain motion constraints, communicate with its neighbors and act upon local knowledge only. A scalable shape sculpting algorithm based on the manipulation of regularly shaped voids within the lattice (“holes”) is given. We present detailed solutions to the conflict test and settlement problem encountered when applying this algorithm, and make improvement on the efficiency of shape sculpting. We believe that the algorithm can potentially generalize to 3D and scale to handle millions of modules.