Zack J. Butler Keith Kotay Daniela Rus Kohji Tomita Generic Decentralized Control for Lattice-Based Self-Reconfigurable Robots. 919-937 2004 23 I. J. Robotic Res. 9 http://ijr.sagepub.com/cgi/content/abstract/23/9/919 db/journals/ijrr/ijrr23.html#ButlerKRT04