Towards robotic self-reassembly after explosion

This paper introduces a new challenge problem: designing robotic systems to recover after disassembly from high-energy events and a first implemented solution of a simplified problem. It uses vision-based localization for self- reassembly. The control architecture for the various states of the robot, from fully-assembled to the modes for sequential docking, are explained and inter-module communication details for the robotic system are described.