A modular shelter system includes a floor panel having a first curved surface along a lateral edge on a top side of the floor panel and a first inside surface located inside of the first curved surface. The modular shelter system additionally includes a wall panel having a second curved surface along a bottom end of the wall panel, wherein the second curved surface is configured to rotate relative to the first curved surface, and wherein the second curved surface is configured to mate with the first curved surface. The wall panel further has a second inside surface located inside of the second curved surface, wherein the second inside surface is configured to mate with the first inside surface when the wall panel is erected over the floor panel.