@article{ChrOgrDor2008:si,
  author = {Anders Christensen and Rehan O'Grady and Marco Dorigo},
  title = {{SWARMORPH}-script: a language for arbitrary morphology generation
           in self-assembling robots},
  year = {2008},
  journal = {Swarm Intelligence},
  volume = {2},
  number = {2--4},
  pages = {143--165}
}