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A matrix made up of many modules can separate to form multiple matrices with fewer modules, or they can combine, or recombine, to form a larger matrix. Some advantages of separating into multiple matrices include the ability to tackle multiple and simpler tasks at locations that are remote from each other simultaneously, transferring through barriers with openings that are too small for a single larger matrix to fit through but not too small for smaller matrix fragments or individual modules, and energy saving purposes by only utilizing enough modules to accomplish a given task. Some advantages of combining multiple matrices into a single matrix is ability to form larger structures such as an elongated bridge, more complex structures such as a robot with many arms or an arm with more degrees of freedom, and increasing strength. Increasing strength, in this sense, can be in the form of increasing the rigidity of a fixed or static structure, increasing the net or collective amount of force for raising, lowering, pushing, or pulling another object, or another part of the matrix, or any combination of these features.
There are two basic methods of segment articulation that self-reconfigurable mechanisms can utilize to reshape their structures: chain reconfiguration and lattice reconfiguration. Gay
==Structure and control==
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