Using scheme to control simulated modular robots

Self-reconfigurable, modular robots are distributed mechatronic devices that can change their physical shape; modules are programmed individually but must coordinate across the robot. Programming modular robots is difficult due to the complexity of programming a distributed embedded system with a dynamically evolving topology. We are currently experimenting with programming-language abstractions to help overcome these difficulties. This tutorial describes a few such experiments using Scheme to control simulated modular robots.

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