Increasing the Efficiency of Distributed Goal-Filling Algorithms for Self-Reconfigurable Hexagonal Metamorphic Robots

The problem addressed is the distributed reconfiguration of a system of two-dimensional, hexagonal mobile robots (modules), from an initial straight chain into an arbitrary shaped, connected goal configuration that satisfies a simple admissibility condition. We present algorithms that improve the efficiency of the deterministic algorithms presented in [16] and [15]. In this paper, we first present a new algorithm for optimally filling a chain of cells that bisect the goal configuration. Then we present reconfiguration algorithms that combine techniques used in the goal-filling algorithm papers cited above combined with the bridging algorithms presented in [7] and [4]. We compare the performance of our new algorithms to existing goal-filling algorithms via simulation using a discrete event simulator. The results of our simulation are presented and discussed.