Basic Problems in Self-Assembling Robots and a Case Study of Segregation on Tribolon Platform. - Shuhei Miyashita; Aubery Marchel Tientcheu Ngouabeu; Rudolf M. Füchslin; Kohei Nakajima; Christof Audretsch; Rolf Pfeifer (Bio-Inspired Self-Organizing Robotic Systems, 2011)