Nobuyuki Takahashi Takashi Nagai Hiroshi Yokoi Yukinori Kakazu Control System of Flexible Structure Multi-cell Robot Using Amoeboid Self-Organization Mode. 563-572 2001 conf/ecal/2001 ECAL http://link.springer.de/link/service/series/0558/bibs/2159/21590563.htm db/conf/ecal/ecal2001.html#TakahashiNYK01