# MoonBot: Modular and On-Demand Reconfigurable Robot Toward Moon Base Construction

arXiv: https://arxiv.org/abs/2512.21853 · HTML: https://mlsanity.com/paper/2512.21853/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 6 of its 96 references that are in the map.
- First posted on arXiv 26 Dec 2025.

## Builds on (most cited first, 6 of 6)

- [Robot Operating System 2: Design, Architecture, and Uses In The Wild](https://mlsanity.com/paper/2211.07752/) (2022)
- [Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study](https://mlsanity.com/paper/1404.3785/) (2014)
- [Accelerating Model Predictive Control for Legged Robots through Distributed Optimization](https://mlsanity.com/paper/2403.11742/) (2024)
- [Robust and Modular Multi-Limb Synchronization in Motion Stack for Space Robots with Trajectory Clamping via Hypersphere](https://mlsanity.com/paper/2507.03934/) (2025)
- [SMORES-EP, a Modular Robot with Parallel Self-assembly](https://mlsanity.com/paper/2104.00800/) (2021)
- [Integration of Vision-based Object Detection and Grasping for Articulated Manipulator in Lunar Conditions](https://mlsanity.com/paper/2309.01055/) (2023)

## Built on by (most cited first, 2 of 2)

- [Planetary Exploration 3.0: A Roadmap for Software-Defined, Radically Adaptive Space Systems](https://mlsanity.com/paper/2604.20910/) (2026)
- [Distributed Multi Robot Lunar Cargo Transportation via Phase Decomposed Reinforcement Learning](https://mlsanity.com/paper/2607.00160/) (2026)

## Abstract (arXiv)

The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating the construction of future human habitats. In this article, we introduce the modular and on-demand reconfigurable robot (MoonBot), a modular and reconfigurable robotic system engineered to maximize functionality while operating within the stringent mass constraints of lunar payloads and adapting to varying environmental conditions and task requirements. This article details the design and development of MoonBot and presents a preliminary field demonstration that validates the proof of concept through the execution of milestone tasks simulating the establishment of lunar infrastructure. These tasks include essential civil engineering operations, infrastructural component transportation and deployment, and assistive operations with inflatable modules. Furthermore, we systematically summarize the lessons learned during testing, focusing on the connector design and providing valuable insights for the advancement of modular robotic systems in future lunar missions.