The simulated experiments were executed on Intel Core2@
2.2 GHz with 4 GB of RAM under FreeBSD 8.2. Three types of modular
robots are used in the experiments: S-Bot (a six-module organism
with an asymmetric one-module leg), Quadropod (nine
modules with four legs) and Lizard (14 modules with four legs).
The robots are depicted in Fig. 4. The simulations are based on the
Robot3D simulator [53], a specialized simulator for modular robots
developed by the authors within the Symbrion/Replicator projects.