The advantage of modular self-reconfigurable robot systems is theirflexibility, but this advantage can only be realized if appropriateconfigurations (shapes) and behaviors (controlling programs) can be selectedfor a given task. In this paper, we present an integrated system for addressinghigh-level tasks with modular robots, and demonstrate that it is capable ofaccomplishing challenging, multi-part tasks in hardware experiments. The systemconsists of four tightly integrated components: (1) A high-level missionplanner, (2) A large design library spanning a wide set of functionality, (3) Adesign and simulation tool for populating the library with new configurationsand behaviors, and (4) modular robot hardware. This paper build on earlier workby the authors, extending the original system to include environmentallyadaptive parametric behaviors, which integrate motion planners and feedbackcontrollers with the system.
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