Greg Aloupis Sébastien Collette Mirela Damian Erik D. Demaine Robin Y. Flatland Stefan Langerman Joseph O'Rourke Val Pinciu Suneeta Ramaswami Vera Sacristan Stefanie Wuhrer Efficient constant-velocity reconfiguration of crystalline robots. 59-71 2011 29 Robotica 1 http://dx.doi.org/10.1017/S026357471000072X db/journals/robotica/robotica29.html#AloupisCDDFLOPRSW11