Optimization of the logical topology for mobile MEMS networks

In this paper, we propose an improvement of the logical topology by using self-reconfiguration protocol in MEMS microrobot networks. Recently, solutions have been given for this problem for a chain of microrobots as a starting physical topology; the advantage of these solutions is that they are distributed protocols without map of the target shape which makes them efficient and scalable. This paper shows how to generalize the solution for any starting physical topology. We propose an efficient map-less self-reconfiguration protocol where nodes can perform the algorithm regardless the place where they are deployed, because the algorithm is independent of the map of the target shape. Furthermore, our solution tries to reach the target shape with a minimum amount of movement. The protocol consists of two main algorithms, initiator election and shape shifting. The initiator election aims to choose the best initiator that initializes the algorithm shape shifting, the criterion of choice is the effect on the amount of movement on the other nodes. The shape shifting algorithm aims to convert the initial physical topology with an incremental process using collaboration, coordination and help between nodes. This protocol is implemented in DPRSim, the Dynamic Physical Rendering Simulator.