Heterogeneity for Increasing Performance and Reliability of   Self-Reconfigurable Multi-Robot Organisms
  Homogeneity and heterogeneity represent a well-known trade-off in the design of modular robot systems. This work addresses the heterogeneity concept, its rationales, design choices and performance evaluation. We introduce challenges for self-reconfigurable systems, show advances of mechatronic and software design of heterogeneous platforms and discuss experiments, which intend to demonstrate usability and performance of this system. 
S. Kernbach, F. Schlachter, R. Humza, J. Liedke, S. Popesku, S. Russo,   T. Ranzani, L. Manfredi, C. Stefanini, R. Matthias,...
cs.RO cs.SY