Viktor Zykov Efstathios Mytilinaios Mark Desnoyer Hod Lipson Evolved and Designed Self-Reproducing Modular Robotics. 308-319 2007 23 IEEE Transactions on Robotics 2 http://dx.doi.org/10.1109/TRO.2007.894685 db/journals/trob/trob23.html#ZykovMDL07