Plexibot: A Homogeneous Modular Robot Framework for Adaptive Locomotion in Unstructured Environments
Kaavya Goel
Affiliation: The Quarry Lane School
IJSCAR Vol. 3, Issue 2 (2026) · pp. 16–22
DOI: 10.67149/yhjs2024.5/n7x5q8jm
Abstract
Modular robots represent a transformative approach to robotic design and unmanned aerial vehicles (UAVs) leveraging the reconfiguration abilities of numerous interconnected modules to achieve versatile and adaptive functionality. This paper presents a solution to the challenges of robustness and adaptability in dynamic unstructured environments. While prior research in modular robotics has explored either ground-based or aerial systems there remains a notable gap in the integration of both modalities into a single adaptive platform. Plexibot a novel modular robot with aerial and terrestrial capabilities along with a unique docking system and homogeneous design enables robust adaptability and reconfiguration. Plexibot is designed to support decentralized coordination between modules inspired by prior consensus-based modular robotic systems. Combined with its possession of both chain-style and mobile reconfiguration these modules have an almost limitless range of applications.
Keywords: Modular Robots, Consensus-Based Control, Hybrid Locomotion, Docking Mechanism, Unstructured Environments