Paolo Pirjanian Chris Leger Erik Mumm Brett Kennedy Michael Garrett Hrand Aghazarian Shane Farritor Paul S. Schenker Distributed Control for a Modular, Reconfigurable Cliff Robot. 4083-4088 2002 conf/icra/2002 ICRA db/conf/icra/icra2002.html#PirjanianLMKGAFS02 http://dx.doi.org/10.1109/ROBOT.2002.1014381