Theory, Design, and Implementation of a Spherical Encoder. - David Stein 007; Gregory S. Chirikjian; Edward R. Scheinerman (ICRA, 2001)

Experiments in decentralized robot construction with tool delivery and assembly robots. - Adrienne Bolger; Matthew Faulkner 003; David Stein 007; Lauren White; Seung-kook Yun; Daniela Rus (IROS, 2010)

Constraint-aware coordinated construction of generic structures. - David Stein 007; T. Ryan Schoen; Daniela Rus (IROS, 2011)