Benjamin D. Rister Jason Campbell Padmanabhan Pillai Todd C. Mowry Integrated Debugging of Large Modular Robot Ensembles. 2227-2234 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.363651 db/conf/icra/icra2007.html#RisterCPM07