Programming modular robots with locally distributed predicates.

Michael DeRosa Seth Copen Goldstein Peter Lee Padmanabhan Pillai Jason Campbell Programming modular robots with locally distributed predicates. 3156-3162 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543691 conf/icra/2008 db/conf/icra/icra2008.html#DeRosaGLPC08