Self-reconfiguration planning of adaptive modular robots with triangular structure based on extended binary trees. - Michael Gerbl; Johannes Gerstmayr (IROS, 2020)

Self-reconfiguration of shape-shifting modular robots with triangular structure. - Michael Gerbl; Johannes Gerstmayr (Robotics Auton. Syst., 2022)

Self-reconfiguration of PARTS: A parallel reconfiguration algorithm based on surface flow. - Michael Gerbl; Johannes Gerstmayr (Robotics Auton. Syst., 2023)

PARTS - A 2D Self-Reconfigurable Programmable Mechanical Structure. - Michael Gerbl; Michael Pieber; Emanuel Ulrich; Johannes Gerstmayr (Robotics, 2024)