For lattice modular self-reconfigurable robots (MSRRs), maintaining stable connections during reconfiguration is crucial for physical feasibility and deployability. This letter presents a novel self-reconfiguration planning algorithm for deformable quadrilateral MSRRs that guarantees stable connection. The method first constructs feasible connect/disconnect actions using a virtual graph representation, and then organizes these actions into a valid execution sequence through a Dependence-based Reverse Tree (DRTree) that resolves interdependencies. We also prove that reconfiguration sequences satisfying motion characteristics exist for any pair of configurations with seven or more modules (excluding linear topologies). Finally, comparisons with a modified BiRRT algorithm highlight the superior efficiency and stability of our approach, while deployment on a physical robotic platform confirms its practical feasibility.

翻译：对于晶格型模块化自重构机器人（MSRRs）而言，在重构过程中保持稳定的连接对于物理可行性和部署能力至关重要。本文提出了一种新颖的可变形四边形MSRRs自重构规划算法，该算法能确保连接的稳定性。该方法首先利用虚拟图表示构建可行的连接/断开动作，随后通过一种基于依赖关系的反向树（DRTree）来组织这些动作，形成有效的执行序列，从而解决动作间的相互依赖问题。我们还证明了对于任意包含七个或更多模块（不包括线性拓扑结构）的配置对，均存在满足运动特性的重构序列。最后，通过与改进的BiRRT算法进行比较，凸显了本方法在效率和稳定性方面的优越性，同时在实体机器人平台上的部署验证了其实际可行性。