Modular robots are systems composed of a number of independent units that can be reconfigured to fit the task at hand. When the modules are computationally independent, they form a large distributed system with no central controller. In this paper we are concerned with the ability of such modular robots to easily recognize the achievement (or lack thereof) of a given goal configuration. We present algorithms for a class of 2D and 3D modular robots, along with correctness and running time analysis. We have successfully implemented the 2D algorithm on the second-generation Crystalline Atomic robot, a self-reconfigurable modular robot under development in our laboratory, and we present implementation details and experimental results.
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