@incollection{ChrOgrDor2009:robotica,
  author = {Anders Christensen and Rehan O'Grady and Marco Dorigo},
  title = {Parallel Task Execution, Morphology Control and Scalability
           in a Swarm of Self-Assembling Robots},
  publisher = {IPCB-Instituto Politécnico de Castelo Branco},
  year = {2009},
  booktitle = {9th Conference on Autonomous Robot Systems and Competitions,
               Rob{\'o}tica 2009},
  pages = {127--133},
  address = {Castelo Branco, Portugal}
}