Scale-Independent Motion Planning for Modular Robots Given an extremely large ensemble of robots in a 2-D array, how can we program them to form interesting macroscale shapes? We have created a distributed algorithm for shape formation that requires orders of magnitude less time than traditional motion-planning approaches. Hole Movement, Creation, and Deletion Intern: Michael De Rosa Movement Regularly shaped holes move through the object, reflecting off of holes and edges Expansion To raise the contour of the surface, holes are created Mentor: Jason Campbell To lower the contour of the surface, holes are captured and consumed Contraction Surface Smoothing Surface roughness is reduced via a “gravity” based collapse algorithm, derived from the Oslo model [Frette 96] All hole operations and smoothing are performed purely via local interactions Macroscale Shape Planning Offline, the non-intersecting regions of the source and target shapes are triangulated to form regions. The target shape and the regions are the only inputs to the system. Results Transformation from a square to a Tee ~4000 robots 98% compliance after 970 timesteps Research at Intel Copyright © 2005 Intel Corporation. All rights reserved. Intel and the Intel logo are registered trademarks of Intel Corporation and its subsidiaries in the United States and other countries.