Choosing Good Paths for Fast Distributed Reconfiguration of Hexagonal Metamorphic Robots. - Jennifer E. Walter; Elizabeth M. Tsai; Nancy M. Amato (ICRA, 2002)

Enveloping obstacles with hexagonal metamorphic robots. - Jennifer E. Walter; Elizabeth M. Tsai; Nancy M. Amato (ICRA, 2003)

Algorithms for Fast Concurrent Reconfiguration of Hexagonal Metamorphic Robots. - Jennifer E. Walter; Elizabeth M. Tsai; Nancy M. Amato (IEEE Trans. Robotics, 2005)