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| Foreword | |
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| Preface | |
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| Introduction | |
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| Self-Reconfigurable Robots | |
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| What Is a Self-Reconfigurable Robot? | |
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| Features | |
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| Brief History | |
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| Pack, Herd, and Swarm Robots | |
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| From Vision to Application | |
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| Structure of this Book | |
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| Further Reading | |
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| Designing Self-Reconfigurable Robots | |
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| Robot Design | |
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| Design Goals | |
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| Self-Reconfigurable Robots and Conventional Robots | |
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| Characteristics of Solutions Based on Self-Reconfigurable Robots | |
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| The Use of Design Goals | |
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| Further Reading | |
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| Mechanical Design of Self-Reconfigurable Robots | |
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| Types of Self-Reconfigurable Robots | |
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| Lattice Structure and Module Geometry | |
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| Actuators | |
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| Connector Design | |
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| Alternative Implementations | |
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| Conclusion | |
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| Further Reading | |
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| Electrical Design of Self-Reconfigurable Robots | |
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| Computing and Communication Infrastructure | |
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| Energy | |
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| Sensors | |
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| Conclusion | |
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| Further Reading | |
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| The Self-Reconfiguration Problem | |
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| Formulating the Problem | |
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| Why Is the Self-Reconfiguration Problem Difficult? | |
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| Simplifications of the Self-Reconfiguration Problem | |
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| Conclusion | |
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| Further Reading | |
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| Self-Reconfiguration as Search | |
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| Configuration Representation | |
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| Search Space Considerations | |
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| Informed Search | |
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| A Successful Search Requires Simplifications | |
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| From Solution to Control | |
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| On-Line Distributed Search | |
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| From Impossible to Simple | |
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| Further Reading | |
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| Self-Reconfiguration as Control | |
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| Movement Strategy | |
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| Representation of the Goal Configuration | |
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| Complications | |
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| Docking and Merging | |
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| Making Ends Meet | |
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| Further Reading | |
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| Task-Driven Self-Reconfiguration | |
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| Locomotion through Self-Reconfiguration | |
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| Task-Driven Growth | |
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| Self-Reconfiguration as a Side Effect | |
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| New Challenges in Self-Reconfiguration | |
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| Conclusion | |
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| Further Reading | |
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| Control in Fixed Configurations | |
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| Locomotion | |
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| Manipulation | |
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| Conclusion | |
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| Further Reading | |
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| Research Challenges | |
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| Facing the Complexity of Real Tasks | |
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| From Basic Functionalities to Behaviors | |
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| Behavior Adaptation | |
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| Behavior Selection | |
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| Behavior Mode | |
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| Behavior-Based Robotics as a Framework | |
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| Application-Oriented Hardware | |
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| Conclusion | |
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| Further Reading | |
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| Appendix: A Simulator for Self-Reconfigurable Robots | |
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| References | |
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| Index | |