Bounds for self-reconfiguration of metamorphic robots. - Gregory S. Chirikjian; Amit Pamecha (ICRA, 1996)

A useful metric for modular robot motion planning. - Amit Pamecha; Gregory S. Chirikjian (ICRA, 1996)

Evaluating efficiency of self-reconfiguration in a class of modular robots. - Gregory S. Chirikjian; Amit Pamecha; Imme Ebert-Uphoff (J. Field Robotics, 1996)

Useful metrics for modular robot motion planning. - Amit Pamecha; Imme Ebert-Uphoff; Gregory S. Chirikjian (IEEE Trans. Robotics Autom., 1997)