Spröwitz, AlexanderLaprade, PhilippeBonardi, StéphaneMayer, MikaelMöckel, RicoMudry, Pierre-AndréIjspeert, Auke2010-06-162010-06-162010-06-16201010.1109/IROS.2010.5649504https://infoscience.epfl.ch/handle/20.500.14299/50877WOS:000287672003131This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots metamodules. We explore how reconfiguration by locomotion from a configuration A to a configuration B can be controlled in a distributed fashion. This is done using Roombots metamodules—two Roombots modules connected serially—that use broadcast signals, lookup tables of their movement space, assumptions about their neighborhood, and connections to a structured surface to collectively build desired structures without the need of a centralized plannerDistributed Controltext::conference output::conference proceedings::conference paper