Programmable matter as a cyber-physical conjugation

Bourgeois, Julien; Piranda, Benoît; Naz, Andre; Boillot, Nicolas; Mabed, Hakim; Dhoutaut, Dominique; Tucci, Thadeu; Lakhlef, Hicham

doi:10.1109/smc.2016.7844687

Cited by 20 publications

(26 citation statements)

References 31 publications

(28 reference statements)

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“…Furthermore, we would like to reduce the memory usage of our algorithm induced by the storage of the goal shape representation. Indeed, hardware modules have limited memory capacity and cannot afford to store the complete representation of large goal shapes [3,20,19]. We envision two approaches to address this storage limitation, namely to use a compressed representation of the goal shape and/or to disseminate and share the representation of the goal shape between all modules [3].…”

Section: Future Workmentioning

confidence: 99%

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A distributed self-reconfiguration algorithm for cylindrical lattice-based modular robots

Naz

Piranda

Bourgeois

et al. 2016

2016 IEEE 15th International Symposium on Network Computing and Applications (NCA)

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Modular self-reconfigurable robots are composed of independent connected modules which can self-rearrange their connectivity using processing, communication and motion capabilities, in order to change the overall robot structure. In this paper, we consider rolling cylindrical modules arranged in a two-dimensional vertical hexagonal lattice. We propose a parallel, asynchronous and fully decentralized distributed algorithm to self-reconfigure robots from an initial configuration to a goal one. We evaluate our algorithm on the millimeter-scale cylindrical robots, developed in the Claytronics project, through simulation of large ensembles composed of up to ten thousand modules. We show the effectiveness of our algorithm and study its performance in terms of communications, movements and execution time. Our observations indicate that the number of communications, the number of movements and the execution time of our algorithm is highly predictable. Furthermore, we observe execution times that are linear in the size of the goal shape.

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Section: Future Workmentioning

confidence: 99%

“…MSR have a wide range of potential applications. This work is part of the Claytronics project [2,3] in which we envision massivescale MSR, composed of up to millions of modules, to build programmable matter, i.e., matter that can change its physical properties under program control.…”

Section: Introductionmentioning

confidence: 99%

A distributed self-reconfiguration algorithm for cylindrical lattice-based modular robots

Naz

Piranda

Bourgeois

et al. 2016

2016 IEEE 15th International Symposium on Network Computing and Applications (NCA)

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“…The Programmable Matter Project 1 [1] aims to build objects using modular self-reconfigurable robots [3] composed of micro-robots thus able to change their shape, a process called self-reconfiguration. The Programmable Matter Project is a follow up of the Claytonics project [4] where each micro-robot is called a Claytronics atom (Catom).…”

Section: Introductionmentioning

confidence: 99%

“…{first}. {last}@femto-st.fr 1 http://projects.femto-st.fr/programmable-matter/ time and using O(N 4 3 ) messages without congesting the network, with N the total number of Catoms.…”

Section: Introductionmentioning

confidence: 99%

Scaffold-Based Asynchronous Distributed Self-Reconfiguration By Continuous Module Flow

Thalamy

Piranda

Lassabe

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Distributed self-reconfiguration in large-scale modular robots is a slow process and increasing its speed a major challenge. In this article, we propose an improved and asynchronous version of a previously proposed distributed self-reconfiguration algorithm to build a parametric scaffolding structure. This scaffold can then be coated to form the desired final object. The scaffolding is built through a continuous feeding of modules into the growing shape from an underneath reserve of modules which shows a reconfiguration time improved by a factor of 3 √ N compared to the previous and synchronous version of the algorithm, therefore attaining an O(N 1/3) reconfiguration time, with N the number of modules in the system. Our algorithm uses a local motion coordination algorithm and pipelining techniques to ensure that modules can traverse the structure without collisions or creating deadlocks. Last but not least, our algorithm manages uncertainty in the motion duration of modules without negatively impacting reconfiguration time.

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“…In this context, the Terahertz frequency band has the double advantage of combining a high bandwidth with a low energy and coverage range. The use of short-range terahertz communications finds many applications in the field of massively multi-core computer architectures [2] and programmable material [1].…”

Section: Introductionmentioning

confidence: 99%

2.5 Layer Protocol for Traffic Regulation in Ultra-dense Nanonetwork

Aliouat

Mabed

Bourgeois

2019

Ad-Hoc, Mobile, and Wireless Networks

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The nano terahertz networks represent one of the promising areas in the field of wireless telecommunications. Technological advances in miniaturization of antennas and terahertz communications have paved the way for new network applications such as the body network, the programmable material and multi-core processors. Some of these applications require the concentration of a very large number of tiny nodes in a limited space. In this ultra-dense context and in the absence of centralized access control units, we propose to implement a distributed strategy of spatial and temporal traffic regulation to guard against the risks of congestion, interference and energy over-consumption. In this paper, we propose a protocol for optimizing radio links that both reduces the flow of redundant traffic over the network, smooths the volume of communications exchanged over time, and preserves the lifetime of the nodes.

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Programmable matter as a cyber-physical conjugation

Cited by 20 publications

References 31 publications

A distributed self-reconfiguration algorithm for cylindrical lattice-based modular robots

A distributed self-reconfiguration algorithm for cylindrical lattice-based modular robots

Scaffold-Based Asynchronous Distributed Self-Reconfiguration By Continuous Module Flow

2.5 Layer Protocol for Traffic Regulation in Ultra-dense Nanonetwork

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