Abstract
Self-reconfigurable, modular robots are distributed mechatronic devices that can autonomously change their physical shape. Self-reconfiguration from one shape to another is typically achieved through a specific sequence of actuation operations distributed across the modules of the robot. Automatically reversing the sequence of operations brings the robot back to its initial shape, as has been experimentally demonstrated using the DynaRole reversible language. DynaRole however only allows simple sequences of operations to be reversed, which is suitable for reversing self-reconfiguration sequences but lacks the generality needed to implement more complex behaviors.
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