Distributed Prediction of Unsafe Reconfiguration Scenarios of Modular Robotic Programmable Matter

We present a distributed framework for predicting whether planned reconfiguration step of modular robot will mechanically overload the structure, causing it to break or lose stability under its own weight. The algorithm is executed by itself and based on iterative solution mechanical equilibrium equations derived from simplified model robot. treats inter-modular connections as beams assumes no-sliding contact between modules ground. also provide procedure instability detection. verified in Programmable Matter simulator VisibleSim, real-life experiments robotic system Blinky Blocks.