In our paper
Irina Kostitsyna, Irene Parada, Willem Sonke, Bettina Speckmann, and Jules Wulms, Compacting Squares (to appear)
we propose a novel algorithm to reconfigure modular robots formed by edge-connected squares. On this page, we present supplementary material for this paper: videos demonstrating the algorithm, and our implementation.
Our implementation is open-source, and the source code can be found on GitHub.
This implementation contains an interactive web-based visualizer, which allows for drawing instances and running the Gather&Compact algorithm on them. The visualizer can be accessed directly here.
Two videos contrasting our approach (Gather&Compact) to the implementation of Dumitrescu-Pach by Moreno and Sacristán (MSDP):