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The sequence is specified using a simple and centralized scripting language, which either could be the outcome of a planner or be hand-coded. The distributed controller generated from this language allows for parallel self-reconfiguration steps and is highly robust to communication errors and loss of local state due to software failures. Furthermore, the self-reconfiguration sequence can automatically be reversed, if desired. We verify our approach and demonstrate its robustness in experiments using physical and the simulated ATRON modules, as well as simulated M-TRAN modules. Overall, the contribution of this work is the combination of the tractability of a centralized scripting language with the robustness and parallelism of distributed controllers in modular robots.<\/jats:p>","DOI":"10.1017\/s0263574710000664","type":"journal-article","created":{"date-parts":[[2011,1,14]],"date-time":"2011-01-14T15:37:39Z","timestamp":1295019459000},"page":"35-57","source":"Crossref","is-referenced-by-count":20,"title":["Robust and reversible execution of self-reconfiguration sequences"],"prefix":"10.1017","volume":"29","author":[{"given":"Ulrik","family":"Schultz","sequence":"first","affiliation":[]},{"given":"Mirko","family":"Bordignon","sequence":"additional","affiliation":[]},{"given":"Kasper","family":"Stoy","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2011,1,14]]},"reference":[{"key":"S0263574710000664_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.804502"},{"key":"S0263574710000664_ref22","first-page":"2184","volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS'00)","author":"Kotay","year":"2000"},{"key":"S0263574710000664_ref33","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.339623"},{"key":"S0263574710000664_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/70.611311"},{"key":"S0263574710000664_ref39","first-page":"729","volume-title":"Proceedings of the Conference on Intelligent Automous Systems (IAS-8)","author":"Zhang","year":"2004"},{"key":"S0263574710000664_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650673"},{"key":"S0263574710000664_ref37","doi-asserted-by":"publisher","DOI":"10.1163\/156855399X01693"},{"key":"S0263574710000664_ref35","doi-asserted-by":"publisher","DOI":"10.1145\/1366230.1366239"},{"key":"S0263574710000664_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399480"},{"key":"S0263574710000664_ref10","first-page":"2375","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Brandt","year":"2007"},{"key":"S0263574710000664_ref13","first-page":"379","volume-title":"Proceedings of the International Symposium on Distributed Autonomous Robotic Systems (DARS'08)","author":"Christensen","year":"2008"},{"key":"S0263574710000664_ref34","doi-asserted-by":"publisher","DOI":"10.1023\/A:1026544419097"},{"key":"S0263574710000664_ref23","unstructured":"23. 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