The self-reconfiguring robotic molecule: design and control algorithms
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Modular Reconfigurable Robots in Space Applications
Autonomous Robots
Million Module March: Scalable Locomotion for Large Self-Reconfiguring Robots
International Journal of Robotics Research
Distributed Control Architecture for Self-reconfigurable Manipulators
International Journal of Robotics Research
Neighbor detection and crosstalk elimination in self-reconfigurable robots
Proceedings of the 1st international conference on Robot communication and coordination
Sensing-based shape formation on modular multi-robot systems: a theoretical study
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
Autonomous Reconfiguration in a Self-assembling Multi-robot System
ANTS '08 Proceedings of the 6th international conference on Ant Colony Optimization and Swarm Intelligence
Modelling of Modular Robot Configurations Using Graph Theory
HAIS '08 Proceedings of the 3rd international workshop on Hybrid Artificial Intelligence Systems
ROBMAT: Teleoperation of a Modular Robot for Collaborative Manipulation
KES '07 Knowledge-Based Intelligent Information and Engineering Systems and the XVII Italian Workshop on Neural Networks on Proceedings of the 11th International Conference
Path finding in the tile assembly model
Theoretical Computer Science
Dynamic Rolling for a Modular Loop Robot
International Journal of Robotics Research
Crystal-growth-inspired algorithms for computational grids
BADS '09 Proceedings of the 2009 workshop on Bio-inspired algorithms for distributed systems
Engineering Self-Adaptive Systems through Feedback Loops
Software Engineering for Self-Adaptive Systems
SWARMORPH: multirobot morphogenesis using directional self-assembly
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Control of locomotion with shape-changing wheels
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Self-adapting modular robotics: a generalized distributed consensus framework
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Self-assembly strategies in a group of autonomous mobile robots
Autonomous Robots
Symbiotic robot organisms: REPLICATOR and SYMBRION projects
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Module design with wireless communication for modular reconfigurable systems
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Roombots: reconfigurable robots for adaptive furniture
IEEE Computational Intelligence Magazine
The mathematical model and control scheme of a four-legged robot based on GZ-I and note module
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Coupled inverted pendulums: a benchmark for evolving decentral controllers in modular robotics
Proceedings of the 13th annual conference on Genetic and evolutionary computation
A Self-adaptive Framework for Modular Robots in a Dynamic Environment: Theory and Applications
International Journal of Robotics Research
Toward evolving self-organizing software systems: a complex system point of view
IEA/AIE'11 Proceedings of the 24th international conference on Industrial engineering and other applications of applied intelligent systems conference on Modern approaches in applied intelligence - Volume Part II
Regenerative abilities in modular robots using virtual embryogenesis
ICAIS'11 Proceedings of the Second international conference on Adaptive and intelligent systems
A heterogeneous modular robotic design for fast response to a diversity of tasks
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Modular and reconfigurable mobile robotics
Robotics and Autonomous Systems
Robotics and Autonomous Systems
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One of the most challenging issues for a self-sustaining robotic system is how to use its limited resources to accomplish a large variety of tasks. The scope of such tasks could include transportation, exploration, construction, inspection, maintenance,in-situ resource utilization, and support for astronauts. This paper proposes a modular and reconfigurable solution for this challenge by allowing a robot to support multiple modes of locomotion and select the appropriate mode for the task at hand. This solution relies on robots that are made of reconfigurable modules. Each locomotion mode consists of a set of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recoverability from failures. This paper demonstrates a solution using the SuperBot robot that combines advantages from M-TRAN, CONRO, ATRON, and other chain-based and lattice-based robots. At the present, a single real SuperBot module can move, turn, sidewind, maneuver, and travel on batteries up to 500 m on carpet in an office environment. In physics-based simulation, SuperBot modules can perform multimodal locomotions such as snake, caterpillar, insect, spider, rolling track, H-walker, etc. It can move at speeds of up to 1.0 m/s on flat terrain using less than 6 W per module, and climb slopes of no less 40 degrees.