Robustness, scalability and flexibility: Key-features in modular self-reconfigurable mobile robotics

In this paper we address some of the most important aspects in modular self-reconfigurable mobile robotics. Related work indicates that it is not sufficient to just have a flexible, scalable and robust platform but that it is necessary to preserve these capabilities in higher levels of organization to benefit from them. Hence we analyze the way in which similar platforms and the according software are implemented. Then we describe the way our own platform is implemented within the SYMBRION and REPLICATOR projects. Afterwards we show how we manage to preserve the robustness and flexibility for use by other researchers in higher levels of organization. To conclude we provide some measurements that show the general adequacy of our platform architecture to cope with the challenges posed by multi-modular self-reconfigurable robotics.