Asa H robots can do a limited amount of self repair. If two lego bricks become loose this will signal a pain and pushing on the bricks may reseat them. If one agent, perhaps a mobile robotic arm, is damaged another can be sent to act in its place. One portable sensor system can be carried about rather than another (broken) one.*
I have tried to make the Asa robots more modular so that damaged modules might be replaced with newer ones. Such capability is rather limited given the commercial components I am working with.
* Alteratively, the development of an easy electrical connect/disconnect might allow for replacement of faulty sensors alone while retaining the old computer interfacing circuitry, etc.
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