中文摘要：

构建了基于多智能体的模块化自重构机器人系统实验平台。在详细分析了自重构系统的主要特点的基础上，设计了一种新型的同构阵列式模块化自重构机器人M-Cubes，阐述了多智能体分布式体系的控制结构，给出了实验平台的设计策略，包括单智能体结构设计、控制系统的硬件设计、单元模块的基本运动和系统运动规划策略。利用Java3D开发了一个仿真试验平台，对各种控制算法进行了仿真和测试评估。

英文摘要：

An experimental platform based on muhi-agent for modular self-reconfigurable （MSR） robots was structured. On the basis of analyzing the main characteristics of MSR robots, a novel homogeneous and lattice MSR robot called M-Cubes was designed. The control structure of the distributed multi-agent was elaborated and the design strategies of the experimental platform were given, including structure design of single agent, hardware design of control system, basic motion of cell module and motion planning strategy of the system. A visual simulation environment of MSR robots was designed utilizing java 3D technology, and many control algorithms of modules and evaluations were simulated in the environment.