Zoltán Nagy Shuhei Miyashita Simon Muntwyler Ashish K. Cherukuri Jake J. Abbott Rolf Pfeifer Bradley J. Nelson Morphology detection for magnetically self-assembled modular robots. 5281-5286 2009 IROS http://dx.doi.org/10.1109/IROS.2009.5354764 conf/iros/2009 db/conf/iros/iros2009.html#NagyMMCAPN09