Hello and welcome to Tom Larkworthy's webpage. Its a bit raw at the moment. At the moment its currently just a place holder for my self-reconfiguration planning demo.
Here is a demo of the hexagonal metamorphic SRS, originally defined by Chirikjian and refined by Ghrist. Random shapes are generated (shown in red) and the planning algorithm coordinates the units, subject to their motion constraints, in order to realize the desired shape. The motion constraints for this system are equivalent to the Claytronics current magnetic hardware platform.
Tom Larkworthy, Subramanian Ramamoorthy "A characterization of the reconfiguration space of self-reconfiguring robotic systems" Robotica, 2011 - Volume 29, Special Issue 01 (Robotic Self-X Systems)
Tom Larkworthy, Subramanian Ramamoorthy,"Graph Minor Analysis of Reconfiguration State Spaces", workshop "Modular Robots:The State of the Art", ICRA2010,
Tom Larkworthy, Subramanian Ramamoorthy. "An Effecient Centralized Algorithm for Self-Reconfiguration Planning in a Modular Robot" (ICRA 2010)
Tom Larkworthy, Gillian Hayes, Subramanian Ramamoorthy. "General Motion Planning Methods For Self-Reconfiguration Planning" Towards Autonomous Robotic Systems (TAROS 09)
Tom Larkworthy, Gillian Hayes. "Utilizing Redundancy In Modular Robots to Increase Accuracy" ROBOCOMM 09