Michael Thomas Tolley Michael Kalontarov Jonas Neubert David Erickson Hod Lipson Stochastic Modular Robotic Systems: A Study of Fluidic Assembly Strategies. 518-530 2010 26 IEEE Transactions on Robotics 3 http://dx.doi.org/10.1109/TRO.2010.2047299 db/journals/trob/trob26.html#TolleyKNEL10