Using Modular Self-Reconfiguring Robots for Locomotion

We discuss the applications of modular self-reconfigurable robots to navigation. We show that greedy algorithms are complete for motion planning over a class of modular reconfigurable robots. We illustrate the application of this result on two self-reconfigurable robot systems we designed and built in our lab: the robotic molecule and the atom. We describe the modules and our locomotion experiments.

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