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Fixed morphology cleaning robots mostly face significant challenges in cleaning the narrow spaces in the environment. To overcome this, a new class of self-reconfigurable floor cleaning robot, hTetrakis, made of four triangular blocks, is built. This paper focuses on the modeling and controller design of the locomotion and reconfiguration mechanism of the platform. The locomotion of the platform with respect to the velocity of the wheels is formulated based on the kinematic analysis. Bydoi:10.1109/access.2020.2992333 fatcat:r357nnfyjraj3lxryrchqz7oqe