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. In this paper we present initial ideas on generalizing the DynaRole language to support a wider range of modular robot control scenarios, while retaining the possibility of reversing distributed sequences. Reversibility is investigated as a practical feature, reducing the programming task of the programmer, and allowing error recovery by backing out of an error state using reverse execution. © 2013 Springer-Verlag Berlin Heidelberg.
Schultz, U. P. (2013). Towards a general-purpose, reversible language for controlling self-reconfigurable robots. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7581 LNCS, pp. 97–111). Springer Verlag. https://doi.org/10.1007/978-3-642-36315-3_8