Self-reconfiguration planning with compressible unit modules

We discuss a robotic system composed of crystalline modules. Crystalline modules can aggregate together to form distributed robot systems. Crystalline modules can move relative to each other by expanding and contracting. This actuation mechanism permits automated shape metamorphosis. We describe the crystalline module concept and show the basic motions that enable a crystalline robot system to self-reconfigure. We present an algorithm for general self-reconfiguration and describe simulation experiments.