Multiagent Control of Self-reconfigurable Robots
  We demonstrate how multiagent systems provide useful control techniques for modular self-reconfigurable (metamorphic) robots. Such robots consist of many modules that can move relative to each other, thereby changing the overall shape of the robot to suit different tasks. Multiagent control is particularly well-suited for tasks involving uncertain and changing environments. We illustrate this approach through simulation experiments of Proteo, a metamorphic robot system currently under development. 
Hristo Bojinov, Arancha Casal and Tad Hogg