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Modular, self-reconfigurable robots show the promise of great versatility, robustness and low cost. However, programming such robots for specific tasks, with hundreds of modules and each of which with multiple actuators and sensors, can be tedious and error-prone. The extreme versatility of the modular systems requires a new paradigm in programming. In this paper, we present new software architecture for this type of robot, in particular PolyBot, which has been developed through its thirddoi:10.1109/iros.2001.976422 dblp:conf/iros/ZhangRY01 fatcat:wljefy5udbaofegy6qap6sqws4