The above-mentioned locomotion generators as well as motion
planning methods can provide motion for modular robots.
Locomotion generators are efficient in providing basic motions,
but they do not consider complex situations in the environment.
Although generators can be extended to cope with altering terrain,
finding suitable parameters for such models is time consuming.
However, motion planning techniques are well fitted to solve the
global planning problem, as they cope with obstacles and consider
the situation on a higher level. However, their performance can
degrade when they need to derive control signals for many
actuators, which is the case of modular robots.