Balance-Driven Self-reconfiguration Algorithm for Programmable Matter

In this paper, we propose a fully distributed method for scheduling the movements of modular robots in a set while maintaining its balance. We explore self-reconfigurable modular robots, which are robots that can change their shape and behavior on their own. We focus on the important problem of verifying their stability and keeping these robots stable while they change shape. Our approach involves developing an algorithm that helps the robots stay balanced in real-time, even when they are changing shape. At the heart of this algorithm is the mechanical notion of the “support polygon” and the concept of “Mobile Object ” in message data, which enables a fast stability verification. We test this algorithm using a programmable matter simulator called VisibleSim, we show that it works well for validating a current static situation and for predicting the status after one or more movements. Additionally, we introduce the concept of dimensional reduction from 3D to 2D, simplifying stability analysis while maintaining accuracy. By addressing stability challenges, our research aims to make self-reconfigurable modular robots more useful in various applications.