Morphogenetic Assembly and Adaptive Control for Heterogeneous Modular Robots
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866910018786295808 |
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| author | Meng, Chongxi Zhao, Da Zhao, Yifei Zeng, Minghao Zhou, Yanmin Wang, Zhipeng He, Bin |
| author_facet | Meng, Chongxi Zhao, Da Zhao, Yifei Zeng, Minghao Zhou, Yanmin Wang, Zhipeng He, Bin |
| contents | This paper presents a closed-loop automation framework for heterogeneous modular robots, covering the full pipeline from morphological construction to adaptive control. In this framework, a mobile manipulator handles heterogeneous functional modules including structural, joint, and wheeled modules to dynamically assemble diverse robot configurations and provide them with immediate locomotion capability. To address the state-space explosion in large-scale heterogeneous reconfiguration, we propose a hierarchical planner: the high-level planner uses a bidirectional heuristic search with type-penalty terms to generate module-handling sequences, while the low level planner employs A* search to compute optimal execution trajectories. This design effectively decouples discrete configuration planning from continuous motion execution. For adaptive motion generation of unknown assembled configurations, we introduce a GPU accelerated Annealing-Variance Model Predictive Path Integral (MPPI) controller. By incorporating a multi stage variance annealing strategy to balance global exploration and local convergence, the controller enables configuration-agnostic, real-time motion control. Large scale simulations show that the type-penalty term is critical for planning robustness in heterogeneous scenarios. Moreover, the greedy heuristic produces plans with lower physical execution costs than the Hungarian heuristic. The proposed annealing-variance MPPI significantly outperforms standard MPPI in both velocity tracking accuracy and control frequency, achieving real time control at 50 Hz. The framework validates the full-cycle process, including module assembly, robot merging and splitting, and dynamic motion generation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_10561 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Morphogenetic Assembly and Adaptive Control for Heterogeneous Modular Robots Meng, Chongxi Zhao, Da Zhao, Yifei Zeng, Minghao Zhou, Yanmin Wang, Zhipeng He, Bin Robotics This paper presents a closed-loop automation framework for heterogeneous modular robots, covering the full pipeline from morphological construction to adaptive control. In this framework, a mobile manipulator handles heterogeneous functional modules including structural, joint, and wheeled modules to dynamically assemble diverse robot configurations and provide them with immediate locomotion capability. To address the state-space explosion in large-scale heterogeneous reconfiguration, we propose a hierarchical planner: the high-level planner uses a bidirectional heuristic search with type-penalty terms to generate module-handling sequences, while the low level planner employs A* search to compute optimal execution trajectories. This design effectively decouples discrete configuration planning from continuous motion execution. For adaptive motion generation of unknown assembled configurations, we introduce a GPU accelerated Annealing-Variance Model Predictive Path Integral (MPPI) controller. By incorporating a multi stage variance annealing strategy to balance global exploration and local convergence, the controller enables configuration-agnostic, real-time motion control. Large scale simulations show that the type-penalty term is critical for planning robustness in heterogeneous scenarios. Moreover, the greedy heuristic produces plans with lower physical execution costs than the Hungarian heuristic. The proposed annealing-variance MPPI significantly outperforms standard MPPI in both velocity tracking accuracy and control frequency, achieving real time control at 50 Hz. The framework validates the full-cycle process, including module assembly, robot merging and splitting, and dynamic motion generation. |
| title | Morphogenetic Assembly and Adaptive Control for Heterogeneous Modular Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.10561 |