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In the modular robot reconfiguration problem, we are given n cube-shaped modules (or robots) as well as two configurations, i.e., placements of the n modules so that their union is face-connected. The goal is to find a sequence of moves that reconfigures the modules from one configuration to the other using "sliding moves," in which a module slides over the face or edge of a neighboring module, maintaining connectivity of the configuration at all times. For many years it has been known that certain module configurations in this model require at least Ω(n²) moves to reconfigure between them. In this paper, we introduce the first universal reconfiguration algorithm - i.e., we show that any n-module configuration can reconfigure itself into any specified n-module configuration using just sliding moves. Our algorithm achieves reconfiguration in O(n²) moves, making it asymptotically tight. We also present a variation that reconfigures in-place, it ensures that throughout the reconfiguration process, all modules, except for one, will be contained in the union of the bounding boxes of the start and end configuration. 

Motivated by applications in gerrymandering detection, we study a reconfiguration problem on connected partitions of a connected graph G. A partition of V(G) is connected if every part induces a connected subgraph. In many applications, it is desirable to obtain parts of roughly the same size, possibly with some slack s. A Balanced Connected k-Partition with slack s, denoted (k, s)-BCP, is a partition of V(G) into k nonempty subsets, of sizes n1,…,nk with |ni−n/k|≤s , each of which induces a connected subgraph (when s=0 , the k parts are perfectly balanced, and we call it k-BCP for short). A recombination is an operation that takes a (k, s)-BCP of a graph G and produces another by merging two adjacent subgraphs and repartitioning them. Given two k-BCPs, A and B, of G and a slack s≥0 , we wish to determine whether there exists a sequence of recombinations that transform A into B via (k, s)-BCPs. We obtain four results related to this problem: (1) When s is unbounded, the transformation is always possible using at most 6(k−1) recombinations. (2) If G is Hamiltonian, the transformation is possible using O(kn) recombinations for any s≥n/k , and (3) we provide negative instances for s≤n/(3k) . (4) We show that the problem is PSPACE-complete when k∈O(nε) and s∈O(n1−ε) , for any constant 0<ε≤1 , even for restricted settings such as when G is an edge-maximal planar graph or when k≥3 and G is planar.