We have studied a micro-cellular robotic system (μ-CEBOT), which is applied with the distributed robotic system. μ-CEBOT consists of many small robots which we named cells. Each call controls itself and carries out the tasks cooperatively with other cells. Characteristically, cells adapt to the tasks or environment by changing their structure. This problem is called the cell configuration problem. In this paper, we propose two algorithms for cell configuration using the sequential method and the parallel method. In these algorithms, the cell selects its pair of connections by distance evaluation. In order to allow adaptation to the dynamic environment, we define the conditional function. The conditional function shows the degree of communication and interruption. We show the algorithms of cell configuration and simulation results, and compare the two methods.