Mixed integer quadratic programming for modular robots self reconfiguration problem

Abstract Recent years have shown continuous progress in nanoscale assembly with the development of affordable large-scale manufacturing technologies. Modular robotics and, especially, the programmable matter is one of the emanations of this evolution, which consists of a set of identical modular robots capable of reconfiguring into any shape. However, the success of such a technology depends on the provided algorithmic solutions that allow shifting from the current configuration to the targeted