{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T02:02:45Z","timestamp":1774922565386,"version":"3.50.1"},"reference-count":23,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2023,9,14]],"date-time":"2023-09-14T00:00:00Z","timestamp":1694649600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Major Research Plan of the National Natural Science Foundation of China","award":["91948201"],"award-info":[{"award-number":["91948201"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The self-reconfigurable modular robotic system is a class of robots that can alter its configuration by rearranging the connectivity of their component modular units. The reconfiguration deformation planning problem is to find a sequence of reconfiguration actions to transform one reconfiguration into another. In this paper, a hybrid reconfiguration deformation planning algorithm for modular robots is presented to enable reconfiguration between initial and goal configurations. A hybrid algorithm is developed to decompose the configuration into subconfigurations with maximum commonality and implement distributed dynamic mapping of free vertices. The module mapping relationship between the initial and target configurations is then utilized to generate reconfiguration actions. Simulation and experiment results verify the effectiveness of the proposed algorithm.<\/jats:p>","DOI":"10.3390\/s23187892","type":"journal-article","created":{"date-parts":[[2023,9,15]],"date-time":"2023-09-15T04:06:13Z","timestamp":1694750773000},"page":"7892","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A Graph-Based Hybrid Reconfiguration Deformation Planning for Modular Robots"],"prefix":"10.3390","volume":"23","author":[{"given":"Ruopeng","family":"Wei","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Yubin","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Huijuan","family":"Dong","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Yanhe","family":"Zhu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Jie","family":"Zhao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,9,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/MRA.2007.339623","article-title":"Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]","volume":"14","author":"Yim","year":"2007","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1648","DOI":"10.1016\/j.robot.2012.09.002","article-title":"Modular and Reconfigurable Mobile Robotics","volume":"60","author":"Moubarak","year":"2012","journal-title":"Rob. Auton. Syst."},{"key":"ref_3","unstructured":"Stoy, K., Brandt, D., and Christensen, D.J. (2010). Self-Reconfigurable Robots: An Introduction, MIT Press."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Romanishin, J.W., Gilpin, K., Claici, S., and Rus, D. (2015, January 26\u201330). 3D M-Blocks: Self-Reconfiguring Robots Capable of Locomotion via Pivoting in Three Dimensions. Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA.","DOI":"10.1109\/ICRA.2015.7139450"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1729881416669349","DOI":"10.1177\/1729881416669349","article-title":"L-Systems Driven Self-Reconfiguration of Modular Robots","volume":"13","author":"Bie","year":"2016","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"331","DOI":"10.1177\/0278364907085097","article-title":"Million Module March: Scalable Locomotion for Large Self-Reconfiguring Robots","volume":"27","author":"Fitch","year":"2008","journal-title":"Int. J. Rob. Res."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Liang, G., Luo, H., Li, M., Qian, H., and Lam, T.L. (2020, January 25\u201329). FreeBOT: A Freeform Modular Self-Reconfigurable Robot with Arbitrary Connection Point\u2014Design and Implementation. Proceedings of the 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA.","DOI":"10.1109\/IROS45743.2020.9341129"},{"key":"ref_8","unstructured":"Yim, M., Duff, D.G., and Roufas, K.D. (2000, January 24\u201328). PolyBot: A Modular Reconfigurable Robot. Proceedings of the 2000 IEEE International Conference on Robotics and Automation (ICRA), San Francisco, CA, USA."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Salemi, B., Moll, M., and Shen, W.M. (2006, January 9\u201313). SUPERBOT: A Deployable, Multi-Functional, and Modular Self-Reconfigurable Robotic System. Proceedings of the 2006 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Beijing, China.","DOI":"10.1109\/IROS.2006.281719"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"745","DOI":"10.1109\/TMECH.2010.2085009","article-title":"Sambot: A Self-Assembly Modular Robot System","volume":"16","author":"Wei","year":"2011","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Zhao, N., Gao, L., Yang, Z., Qi, J., Han, K., Sui, X., Zhao, J., and Zhu, Y. (2023). Meta-Module Mutual Assistance: A Bioinspired Design for Self-Assembly of Modular Space Robot. Adv. Intell. Syst., 5.","DOI":"10.1002\/aisy.202200450"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Freesn, S.R., Tu, Y., Member, S., Lam, T.L., and Member, S. (2023). Configuration Identification for a Freeform Modular. IEEE Trans. Robot., 1\u201317.","DOI":"10.1109\/TRO.2023.3303848"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"439","DOI":"10.1007\/s10514-010-9177-0","article-title":"Self-Assembly Strategies in a Group of Autonomous Mobile Robots","volume":"28","author":"Christensen","year":"2010","journal-title":"Auton. Robot."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"80","DOI":"10.1016\/j.robot.2019.04.011","article-title":"A Distributed and Parallel Self-Assembly Approach for Swarm Robotics","volume":"118","author":"Yang","year":"2019","journal-title":"Rob. Auton. Syst."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"eabf1628","DOI":"10.1126\/scirobotics.abf1628","article-title":"Self-Reconfigurable Multilegged Robot Swarms Collectively Accomplish Challenging Terradynamic Tasks","volume":"6","author":"Goldman","year":"2021","journal-title":"Sci. Robot."},{"key":"ref_16","unstructured":"Hou, F., and Shen, W.M. (2010, January 3\u20137). On the Complexity of Optimal Reconfiguration Planning for Modular Reconfigurable Robots. Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, USA."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"103930","DOI":"10.1016\/j.robot.2021.103930","article-title":"Self-Reconfiguration of Shape-Shifting Modular Robots with Triangular Structure","volume":"147","author":"Gerbl","year":"2022","journal-title":"Rob. Auton. Syst."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"4231","DOI":"10.1109\/LRA.2019.2930432","article-title":"A Distributed Reconfiguration Planning Algorithm for Modular Robots","volume":"4","author":"Liu","year":"2019","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"1929","DOI":"10.1007\/s40747-022-00891-7","article-title":"Hybrid Swarm Intelligent Algorithm for Multi-UAV Formation Reconfiguration","volume":"9","author":"Gao","year":"2023","journal-title":"Complex Intell. Syst."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"2040006","DOI":"10.1142\/S0219519420400060","article-title":"A designation of modular mobile reconfigurable platform system","volume":"20","author":"Liu","year":"2020","journal-title":"J. Mech. Med. Biol."},{"key":"ref_21","unstructured":"Bender, E.A., and Williamson, S.G. (2010). Lists, Decisions and Graphs with an Introduction to Probability, University of California San Diego."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1016\/S0012-365X(03)00156-0","article-title":"On the Structure of Random Unlabelled Acyclic Graphs","volume":"277","author":"McColm","year":"2004","journal-title":"Discrete Math."},{"key":"ref_23","unstructured":"Hou, F., and Shen, W.M. (2008, January 19\u201323). Distributed, Dynamic, and Autonomous Reconfiguration Planning for Chain-Type Self-Reconfigurable Robots. Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, CA, USA."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/18\/7892\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T20:51:16Z","timestamp":1760129476000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/18\/7892"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,9,14]]},"references-count":23,"journal-issue":{"issue":"18","published-online":{"date-parts":[[2023,9]]}},"alternative-id":["s23187892"],"URL":"https:\/\/doi.org\/10.3390\/s23187892","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,9,14]]}}}