Using scheme to control simulated modular robots

Abstract

Self-reconfigurable, modular robots are distributed mechatronic devices that can change their physical shape; modules are programmed individually but must coordinate across the robot. Programming modular robots is difficult due to the complexity of programming a distributed embedded system with a dynamically evolving topology. We are currently experimenting with programming-language abstractions to help overcome these difficulties. This tutorial describes a few such experiments using Scheme to control simulated modular robots.