Hardware Architecture Review of Swarm Robotics System: Self-Reconfigurability, Self-Reassembly, and Self-Replication

Table 1

Classification of swarm robots.

System	Class	DOF	Reference(s)
CEBOT	Mobile	Various	Fukuda et al. [29, 30]
Polypod	Chain	2	Yim [3, 12, 13, 23]
Molecule	Lattice	3	Chirikjian et al. [3]
CONRO	Lattice	4	Kotay et al., 1998 [6]
Polybot	Chain	2	Castano et al., 2002 [25]
Metamorphic	Chain	1	Golovinsky et al., 2004
Telecube	Lattice	6	Suh et al., 2002
I-Cube	Lattice	3	Ünsal et al., 2001 [22]
Pneumatic	Lattice	2	Inou et al., 2002
Uni Rover	Mobile	2	Damoto et al., 2001
M-TRAN	Hybrid	2	Murata et al., 2002 [28]
Atron	Lattice	1	Brandt et al., 2007 [20]
Swarm-bot	Mobile	3	Groß et al. [11]
Superbot	Hybrid	3	Rubenstein et al. [27]
Molecube	Chain	1	Studer and Lipson, 2006
Miche	Lattice	0	Gilpin et al., 2008
ACM	Chain	Various	Hirose and Mori, 2004
Miniturized	Hybrid	0	Tomita et al. [14]
Fractum	Lattice	2	Tomita et al. [14]
M-TRAN II	Hybrid	2	Murata [21, 28]