Reconfigurable multirobot societies is a young area of robotics that promises versatility, robustness and low cost as is relies on a society of multiple robots that will be able to perform an immeasurable amount of different tasks, tasks that not even were thought of at design time. In order to create a new reconfigurable multi robot society from scratch that could be developed fast and with low costs, it was opted to create a prototype from LEGO Mindstorms NXT equipment, complemented with some expansion electronics developed to expand the capabilities of the existing LEGO Mindstorms NXT system. This work describes the successful creation of a reconfigurable multi robot society based on the LEGO Mindstorms NXT systems, as well as the description of two prototypes that were created on the way and were not successful

@mastersthesis{Leal2009:INSSI38500,
  author = {Leal Martinez, David},
  title = {Reconfigurable multi robot society based on Lego mindstorms},
  year = {2009},
  url = {http://lib.tkk.fi/Dipl/2009/urn100013.pdf},
  school = {Helsinki University of Technology},
  address = {Espoo, Finland}
}