Here you will find a web version of a simulator program designed by
my mentor, Jennifer Walter, and myself. The program uses the algorithms
developed in our research to simulate the reconfiguration of the
robotic modules from their inital state, I, to the goal state,
- Begin by clicking the "show grid" button to draw the hexagonal
plane of cells.
- To create a goal configuration, you will need to select contiguous columns
of cells. First, select a cell you wish to be the start of a goal column.
Next, chose the cell that you wish to be the end of that column. This
will cause the entire selected column to be coloured red, indicating
that the column is part of the goal configuration.
- Continue to select goal cells in this manner. Note that each goal
column you create must be immediately east of the previous ones.
Non-contiguous or westernly columns will result in errors.
- After you have finished selecting goal cells, click the "goal done"
button. The simulator will determine the best substrate path
(coloured yellow) for your chosen goal and will line up the modules
(coloured blue) accordingly. A "good" substrate path is one that
is a straight as possible and bisects the goal.
- To begin the reconfiguration of the modules, enter the number of
rounds of movement you wish to watch in the field next to the "jump"
button. Hit the jump button to start the movement.
- Alternatively, you can move the modules one movement at a time
by clicking the "+" box.
- As the modules fill in the goal, they will become pink. When the
entire goal is coloured pink, the reconfiguration is complete.
Click here to lauch the simulator
**NOTE: Please be aware that we are still in the process of debugging the
applet version of the simulator. As a result, certain features of the
program do not work. In particular, there is no way to reset the
simulator after running it. Clicking on the "show grid" button a second
time will result in an error. Also, the "exit" button does not work.