We discuss a robotic system composed of Crystalline modules. Crystalline mo
dules can aggregate together to form distributed robot systems. Crystalline
modules can move relative to each other by expanding and contracting. This
actuation mechanism permits automated shape metamorphosis. We describe the
Crystalline module concept and show the basic motions that enable a Crysta
lline robot system to self-reconfigure. We present an algorithm for general
self-reconfiguration and describe simulation experiments.