Programmable Synchronization Graphs for Adaptive and Fault-Tolerant Modular Miniature Robots

arXiv:2607.07281v1 Announce Type: new Abstract: Modular miniature robots could provide scalable function in constrained environments, but coordinating many imperfect modules remains difficult when computation, communication and reliability are limited. A central robotics challenge is to coordinate many actuator-sensor modules without assigning a privileged leader, prescribing a fixed gait template, or relying on dense communication. Here we introduce a programmable synchronization-graph framewor...