This paper suggests reflections can be practically useful if they are included in planning for collision capable robot platforms. By modifying a proven strategy for navigation with reflections we maintain global convergence results and reach the goal in less time. An algorithm for identifying reflection surfaces for a given cell decomposition is reported. Baseline and reflected scenarios are compared for two different cell decompositions. Omnipuck, a reflection capable omnidirectional robot meant to store and release impact energy, is used to obtain experimental results and draw conclusions for future work.

The paper reports on the design and preliminary experimental testing of a novel 3D-printed miniature legged robot. It is called Passively Sprawling Robot (PSR), and it features a mechanism that achieves passive adjustment of the sprawl angle of the robot's legs. Passive sprawling in this robot exhibits compliance by design, yet it can be controlled indirectly by regulating the yaw rate. Spring-loaded assemblies on the left and right side of the robot function independently, allowing the vehicle to overcome asymmetrical obstacles with improved lateral stability, and withstand falls from moderate heights without sustaining structural damage. The regulation of the sprawling angle by means of varying yaw rates, as well as the improved motion characteristics have been experimentally observed and verified, and open-loop motion accuracy along straight and constant curvature paths was tested on a number of repeated trials.