%T Abstractions for Simplifying Planning in Self-Reconfigurable Robotic Systems
%A Craig McGray
%A Daniela Rus
%R Technical Report PCS-TR98-342
%I Dartmouth College, Computer Science
%C Hanover, NH
%D October 1998
%U http://www.cs.dartmouth.edu/reports/TR98-342.pdf
%X
 In [KVRM], we described a three-dimensional self-reconfiguring robot module called the Molecule Robot.  
     In this paper, we provide a system of abstractions for modules in self-reconfigurable robotic systems, and show how this system can be used to simplify the motion planning of the Molecule Robot system.