A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor

camera

communication

computation

and mobility parts

and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can link into a train or other shapes autonomously via camera and other sensors to be a united whole robot for obstacle clearing

and disjoin to be separate units under control after missions. To achieve small overall size

compact mechanical structures are adopted in modular components designing

an embedded image processing module based on CMOS digital camera is designed for self-reconfiguration

and a miniature ARM & FPGA-based embedded controller is developed for minimal power consumption and efficient global control. Fully functional unit has been tested

and docking experiment between two units has also been implemented.