Mathematical and algorithmic models of reconfiguration of a modular robotic system

The relevance of a research problem is justified, which consists in development of the algorithmic models and software components for autonomous connection and interaction of the modular homogeneous robots. A review of existing modular robotic devices and modular robotic systems is presented. Developed conceptual and set-theoretic models of a modular robotic system are considered. Algorithms of physical connection and data exchange of homogeneous modular robotic devices are described in context of composition of coupled spatial structures.