Creating a smarter membrane: automatic code generation for modular self-reconfigurable robots

This work extends previous research on developing control software for modular robotic smart membranes to a second module type with more complicated movement, to 3-D membranes, to the presence of gravity, and to less easily manipulatable objects. Moreover, it extends the capabilities of the membranes from simple filtering to more complex sorting tasks. The control software we developed is completely decentralized, and automatically generated.