  The advantage of modular self-reconfigurable robot systems is their
flexibility, but this advantage can only be realized if appropriate
configurations (shapes) and behaviors (controlling programs) can be selected
for a given task. In this paper, we present an integrated system for addressing
high-level tasks with modular robots, and demonstrate that it is capable of
accomplishing challenging, multi-part tasks in hardware experiments. The system
consists of four tightly integrated components: (1) A high-level mission
planner, (2) A large design library spanning a wide set of functionality, (3) A
design and simulation tool for populating the library with new configurations
and behaviors, and (4) modular robot hardware. This paper builds on earlier
work by the authors, extending the original system to include environmentally
adaptive parametric behaviors, which integrate motion planners and feedback
controllers with the system.
