Abstract We provide algorithmic methods for connected reconfiguration of lattice-based cellular structures by finite-state robots, motivated by large-scale constructions in space. We present algorithms that are able to detect and reconfigure arbitrary polyominoes, while also preserving connectivity of a structure during reconfiguration; we also provide mathematical proofs and performance guarantees. Specific results include methods for determining a bounding box, scaling a given arrangement, and adapting more general algorithms for transforming polyominoes.

In this video, we consider recognition and reconfiguration of lattice-based cellular structures by very simple robots with only basic functionality. The underlying motivation is the construction and modification of space facilities of enormous dimensions, where the combination of new materials with extremely simple robots promises structures of previously unthinkable size and flexibility. We present algorithmic methods that are able to detect and reconfigure arbitrary polyominoes, based on finite-state robots, while also preserving connectivity of a structure during reconfiguration. Specific results include methods for determining a bounding box, scaling a given arrangement, and adapting more general algorithms for transforming polyominoes.

We consider recognition and reconfiguration of lattice-based cellular structures by very simple robots with only basic functionality. The underlying motivation is the construction and modification of space facilities of enormous dimensions, where the combination of new materials with extremely simple robots promises structures of previously unthinkable size and flexibility; this is also closely related to the newly emerging field of programmable matter. Aiming for large-scale scalability, both in terms of the number of the cellular components of a structure, as well as the number of robots that are being deployed for construction requires simple yet robust robots and mechanisms, while also dealing with various basic constraints, such as connectivity of a structure during reconfiguration. To this end, we propose an approach that combines ultra-light, cellular building materials with extremely simple robots. We develop basic algorithmic methods that are able to detect and reconfigure arbitrary cellular structures, based on robots that have only constant-sized memory. As a proof of concept, we demonstrate the feasibility of this approach for specific cellular materials and robots that have been developed at NASA.