Module paths during transformtion

Self-Reconfigurable Modular robotic Systems (SRMSs) can physically connect and form a variety of morphologies without the need for external intervention. The morphology transformation problem of an underwater SRMS is critical to various functionalities. Morphology decomposition and reconnections are reduced by clustering some modules together. The file includes the x and y coordinates of modules in a self-reconfigurable robotic system. The self-reconfigurable robotic system contains 641 underwater modular robots and it changes from the morphology of a square to the morphology of Chinese characteristic. The paths of the underwater modular robots are generated by the probabilistic decomposition method and distributed control with in-situ task refinements.