Formations for fast locomotion of metamorphic robotic systems

Adrian Dumitrescu, Ichiro Suzuki, Masafumi Yamashita

Research output: Contribution to journalArticlepeer-review

24 Citations (Scopus)


In this paper, we examine the problem of dynamic self-reconfiguration of a modular robotic system (frequently referred to as a self-reconfigurable or metamorphic system), to a formation aimed at reaching a specified 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.

Original languageEnglish
Pages (from-to)583-593
Number of pages11
JournalInternational Journal of Robotics Research
Issue number6
Publication statusPublished - Jun 2004

All Science Journal Classification (ASJC) codes

  • Software
  • Modelling and Simulation
  • Mechanical Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Applied Mathematics


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