Current research in self-reconfiguring robots focuses predominantly on systems of identical modules. However, allowing modules of varying types, with different sensors, for example, is of practical interest. In this paper, we propose the development of an algorithmic basis for heterogeneous self-reconfiguring systems. We demonstrate algorithmic feasibility by presenting O(n) time centralized an...

In this paper, we present a novel approach for heterogeneous self-reconfiguration of a modular robot comprised of heterogeneous cubic modules. We allow an arbitrary number of modules and module classes and show that the proposed self-reconfiguration algorithm can guarantee completion of heterogeneous self-reconfigurations by avoiding so-called hole obstructions. We introduce a hole-detection al...

Robots need to be able to adapt to complex and dynamic environments for widespread adoption, and adapting the body might yield more flexible and robust robots. Previous work on dynamic robot morphology has focused on simulation, combining simple modules, or switching between locomotion modes. This paper presents an alternative approach: automatic self-reconfiguration of morphology on a four-leg...

We consider the problem of dynamic selfreconfiguration in a modular self-reconfigurable robot (MSR). Previous MSR self-reconfiguration approaches search for new configurations only within the modules of the MSR that needs reconfiguration. In contrast, we describe a technique where an MSR that needs to reconfigure communicates with other MSRs in its vicinity to determine if modules can be shared...

In a vessel, the Shipboard Power System (SPS) is responsible for supplying energy to various services, such as navigation and communication. A research topic is the reconfiguration of the electrical scheme in case of either failure or damage. Indeed, after a fault, the software control system must ensure the ship’s survival. In a couple of earlier studies, we: (i) analyzed the relation between ...

We present a complete, local, and parallel reconfiguration algorithm for metamorphic robots made up of Telecubes, six degree of freedom cube shaped modules currently being developed at PARC. We show that by using 2x2x2 meta-modules we can achieve completeness of reconfiguration space using only local rules. Furthermore, this reconfiguration can be done in place and massively in parallel with ma...