Yim, MarkShirmohammadi, BabakSastra, JimmyPark, MichaelTaylor, Camillo JDugan, Michael2023-05-222023-05-222007-10-292008-04-30https://repository.upenn.edu/handle/20.500.14332/39855This paper introduces a new challenge problem: designing robotic systems to recover after disassembly from high-energy events and a first implemented solution of a simplified problem. It uses vision-based localization for self-reassembly. The control architecture for the various states of the robot, from fully-assembled to the modes for sequential docking, are explained and inter-module communication details for the robotic system are described.GRASPArticle