@inproceedings{White2007,
    author={P. J. White and M. Yim},
    year={2007},
    title={Scalable Modular Self-reconfigurable Robots Using External Actuation},
    booktitle={Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems},
    address={San Diego},
    pages={2773-2778},
    doi={10.1109/IROS.2007.4399606}
}