In the experimental verification, a simpler planner was applied
and the results prove, that this simplified solution can be efficiently
applied with modular robots consisting of few modules. However,
as the number of modules increases, the performance of other
methods decreases significantly. RRT-MP can find a plan with a
high success ratio. RRT-MP is thus an enabling technology for
motion planning of complex modular robots. The resulting plans
provided by RRT-MP have been executed on a real robot made of
five modules.