@article{white2010reliable,
  title={{Reliable External Actuation for Full Reachability in Robotic Modular Self-reconfiguration}},
  author={P. J. White and M. Yim},
  journal={The International Journal of Robotics Research},
  volume={29},
  number={5},
  pages={598},
  issn={0278-3649},
  year={2010},
  publisher={SAGE Publications}
}