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We provide algorithmic methods for connected reconfiguration of lattice-based cellular structures by finite-state robots, motivated by large-scale constructions in space. We present algorithms that are able to detect and reconfigure arbitrary polyominoes, while also preserving connectivity of a structure during reconfiguration; we also provide mathematical proofs and performance guarantees. Specific results include methods for determining a bounding box, scaling a given arrangement, and adapting more general algorithms for transforming polyominoes.

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