@article{OgrChrDor2009:tr,
  author = {Rehan O'Grady and Anders Christensen and Marco Dorigo},
  title = {{SWARMORPH}: Multi-Robot Morphogenesis using Directional
           Self-Assembly},
  year = {2009},
  journal = {IEEE Transactions on Robotics},
  volume = {25},
  number = {3},
  pages = {738--743},
  doi = {http://dx.doi.org/10.1109/TRO.2008.2012341}
}