We present the first universal reconfiguration algorithm for transforming a modular robot
between any two facet-connected square-grid configurations using pivot moves. More …

The goal of this paper is to provide a survey and application-focused atlas of collective
behavior coordination algorithms for multi-agent systems. We survey the general family of …

In this paper, we present algorithms for self-reconfiguration of modular robots that move by
pivoting. The modules are cubes that can pivot about their edges along the x̂, ŷ, or ẑ axes …

We present an algorithm for self-reconfiguration of admissible 3D configurations of pivoting
modular cube robots with holes of arbitrary shape and number. Cube modules move across …

Stochastic assembly approaches can reduce the power, computation, and/or actuation
demands on assembly systems by taking advantage of probabilistic processes. At the same …

We give both efficient algorithms and hardness results for reconfiguring between two
connected configurations of modules in the hexagonal grid. The reconfiguration moves that …

A well-established theoretical model for modular robots in two dimensions are edge-
connected configurations of square modules, which can reconfigure through so-called …

We present an integral feedback controller that regulates the average copy number of an
assembly in a system of stochastically interacting robots. The mathematical model for these …

Despite a high level of stochasticity and heterogeneity, a population of biological cells can
collectively construct a complex structure that emerges from individual cell behaviors …

Large collections of simple, interacting robots can be difficult to program due to issues of
concurrency and intermittent, probabilistic failures. Here, we present Guarded Command …