Reconfiguration and locomotion with joint movements in the amoebot model

We are considering the geometric amoebot model where a set of namoebots is placed on the triangular grid. An amoebot is able to send information to its neighbors, and to move via expansions and contractions. Since amoebots and information can only travel node by node, most problems have a natural lower bound of where D denotes the diameter of the structure. Inspired by the nervous and muscular system, Feldmann et al. (Computat Biol 29(4):317–343, 2022) have proposed the reconfigurable circuit extension and the joint movement extension of the amoebot model with the goal of breaking this lower bound. In the joint movement extension, the way amoebots move is altered. Amoebots become able to push and pull other amoebots. Feldmann et al. (Computat Biol 29(4):317–343, 2022) demonstrated the power of joint movements by transforming a line of amoebots into a rhombus within rounds. However, they left the details of the extension open. The goal of this paper is therefore to formalize and extend the joint movement extension. In order to provide a proof of concept for the extension, we develop centralized algorithms for two fundamental problems of modular robot systems: reconfiguration and locomotion. We approach these problems by defining meta-modules of rhombical and hexagonal shape, respectively. The meta-modules are capable of movement primitives like sliding, rotating, and tunneling. This allows us to simulate reconfiguration algorithms of various modular robot systems. Finally, we construct three amoebot structures capable of locomotion by rolling, crawling, and walking, respectively.