本论文主要对树状拓扑结构的模块化机器人的重构规划问题进行了研究，定义了构型重构的基本概念，提出了分支重构规划算法。
This paper examines the reconfiguration planning problem of tree-like topological modular robots and defines some of the general nomenclature.
每个提供者都显示为树状结构，其中包含拓扑对象的层次结构，按照类型进行分组。
Each provider is displayed as a tree that contains a hierarchy of topology objects, grouped by type.
用13 C固体核磁共振检测了树状间隔臂的拓扑结构。
The topological structure of the dendrimer spacer arms was inspected by solid-state 13c NMR.
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