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Sucan IA, Kruse JF, Yim M, Kavraki LE.  2008.  Reconfiguration for modular robots using kinodynamic motion planning. ASME -- Dynamic Systems and Control.
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Yim M, Shen W-M, Salemi B, Rus D, Moll M, Lipson H, Klavins E.  2007.  Modular Self-reconfigurable Robot Systems: Challenges and Opportunities for the Future. IEEE Robotics & Automation Magazine. 14
Abstract           Publisher's web site     
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Sucan IA, Kruse JF, Yim M, Kavraki LE.  2008.  Kinodynamic Motion Planning with Hardware Demonstrations. IEEE/RSJ International Conference on Intelligent Robots and Systems. :1661--1666.
Abstract      Preprint PDF     Publisher's web site