Toward Pleomorphic Reconfigurable Robots for Optimum Coverage

<div>(a) Mean variation of uncovered area of P-hTetro (i.e., <span class="nowrap"><svg height="14.0004pt" id="M80" style="vertical-align:-5.3645pt" version="1.1" viewbox="-0.0498162 -8.6359 20.9524 14.0004" width="20.9524pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M541 160L512 170C485 116 462 88 439 67C411 41 376 35 318 35C272 35 238 37 224 48C207 61 205 85 212 121L290 533C305 611 308 615 391 622L397 650H139L133 622C217 615 221 612 206 533L126 118C111 41 103 34 23 26L17 0H474C489 31 528 124 541 160Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.294,3.132)"><path d="M257 449C165 449 37 374 37 209C37 98 119 -12 256 -12C355 -12 473 65 473 226C473 349 381 449 257 449ZM244 416C333 416 380 320 380 204C380 67 329 21 267 21C184 21 130 115 130 241C130 354 184 416 244 416Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,12.834,3.132)"><path d="M169 380V459C122 440 66 423 24 416V392C86 384 90 382 90 317V-135C90 -201 81 -207 17 -213V-240H253V-213C176 -207 169 -201 169 -125V6C182 -1 208 -11 238 -12C368 12 487 109 487 260C487 358 421 449 310 449C298 449 279 444 261 433L169 380ZM169 346C196 367 237 389 269 389C341 389 403 329 403 221C403 109 347 37 263 37C228 37 191 53 169 76V346Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.502,3.132)"><path d="M298 36L289 62C276 55 253 45 228 45C202 45 169 60 169 141V397H276C289 405 292 426 282 437H169V574L155 576L90 509V437H45L17 408L21 397H90V107C90 28 125 -12 188 -12C198 -12 213 -8 230 1L298 36Z"></path></g></svg>)</span> and hTetro with fixed sizes of <svg height="11.8174pt" id="M81" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 14.0471 11.8174" width="14.0471pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M541 160L512 170C485 116 462 88 439 67C411 41 376 35 318 35C272 35 238 37 224 48C207 61 205 85 212 121L290 533C305 611 308 615 391 622L397 650H139L133 622C217 615 221 612 206 533L126 118C111 41 103 34 23 26L17 0H474C489 31 528 124 541 160Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.294,3.132)"><path d="M567 167L534 181C505 122 482 94 454 70C428 46 385 42 330 42C288 42 248 44 235 55C216 70 213 91 220 130L295 528C310 609 314 611 401 618L409 650H140L131 618C222 611 224 609 209 528L133 126C118 47 108 41 25 33L18 0H497C514 33 554 126 567 167Z"></path></g></svg> and <span class="nowrap"><svg height="11.927pt" id="M82" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 15.6547 11.927" width="15.6547pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M541 160L512 170C485 116 462 88 439 67C411 41 376 35 318 35C272 35 238 37 224 48C207 61 205 85 212 121L290 533C305 611 308 615 391 622L397 650H139L133 622C217 615 221 612 206 533L126 118C111 41 103 34 23 26L17 0H474C489 31 528 124 541 160Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.294,3.132)"><path d="M757 650H506L497 618C579 615 596 608 596 570S591 477 571 380L560 327C516 117 435 41 309 41C199 41 108 114 144 303L187 529C202 609 208 612 291 618L296 650H30L24 618C109 612 113 606 99 529L58 299C33 161 62 83 113 41C161 0 222 -17 283 -17C348 -17 417 3 470 48C546 111 584 203 603 311L615 380C631 474 647 531 658 567C667 599 672 616 750 618L757 650Z"></path></g></svg>.</span> The error bars represent the standard error of mean. (b) Comparison intervals of Tukey’s honest significant difference criterion. It is considered that there is no significant difference between the means of corresponding groups if intervals of two groups overlap.</div>

Complexity

Toward Pleomorphic Reconfigurable Robots for Optimum Coverage

Figure 6