Self-reconfigurable modular robots have an intriguingly flexible design, composing a single robot with many small modules that can autonomously move to transform the robot’s shape and structure. Each module may only have limited processing and memory resources. This makes scaling to a large number of modules quite challenging. This paper introduces a novel distributed locomotion algorithm for l...

In this article we examine the problem of dynamic self-reconfiguration of a class of modular robotic systems referred to as metumorpkic systems. A metamorphic robotic system is a collection of mechatronic modules, each of which has the ability to connect, disconnect, and climb over adjacent modules. A change in the macroscopic morphology results from the locomotion of each module over its neigh...

In this paper we investigate the module-theoretic properties of ⊥− and >-reachability modules in terms of inseparability relations for the DL SRIQ. We show that, although these modules are not depleting or self-contained, they share the robustness properties of syntactic locality modules and preserve all justifications for an entailment.

Programmable self-assembly of modular robots offers promising means for structure formation at different scales. Rule-based approaches have been previously employed for distributed control of stochastic self-assembly processes. The assembly rate in the process directly depends on the concurrency level induced by the employed ruleset, i.e. the number of concurrent steps necessary to build one in...