Experiments in distributed locomotion with a unit-compressible modular robot

Effective algorithms for modular self-reconfiguring robots should be distributed and parallel. In previous work, we explored general algorithms for locomotion and self-replication and their instantiations to systems in which modules move over the surface of the robot. In this work, we present several algorithms applied to the Crystal robot-two new distributed locomotion algorithms designed specifically for unit-compressible actuation, as well as the adaptation of a generic division algorithm to the Crystal. We also present the integration of a locomotion algorithm with a distributed goal recognition algorithm developed previously. This allows the robot to reconfigure and recognize the achievement of its goal, all without the use of a central controller. We have instantiated all of these algorithms on the Crystal hardware, and we present results of our experiments. These experiments empirically verify the utility of our distributed algorithms on a self-reconfiguring system.