Modular robots consist of many autonomous modules, which
can be connected to form bodies of various shapes. Modular robots
have attracted research interest in recent years, which has resulted
in numerous platforms such as PolyBot [1], CONRO [2], M-TRAN [3],
ATRON [4] and SuperBot [5], Molecubes [6], ICubes [7] and Symbrion/
Replicator [8]. We refer to [9] for a comprehensive survey of
existing platforms. Modular robots can be utilized in challenging