Meld: A declarative approach to programming ensembles. - Michael P. Ashley-Rollman; Seth Copen Goldstein; Peter Lee 001; Todd C. Mowry; Padmanabhan Pillai (IROS, 2007)

Generalizing metamodules to simplify planning in modular robotic systems. - Daniel J. Dewey; Michael P. Ashley-Rollman; Michael DeRosa; Seth Copen Goldstein; Todd C. Mowry; Siddhartha S. Srinivasa; Padmanabhan Pillai; Jason Campbell (IROS, 2008)

Research Summary: Logic Programming for Massively Distributed Systems. - Michael P. Ashley-Rollman (ICLP, 2009)

A Language for Large Ensembles of Independently Executing Nodes. - Michael P. Ashley-Rollman; Peter Lee 001; Seth Copen Goldstein; Padmanabhan Pillai; Jason Campbell (ICLP, 2009)

Beyond Audio and Video: Using Claytronics to Enable Pario. - Seth Copen Goldstein; Todd C. Mowry; Jason Campbell; Michael P. Ashley-Rollman; Michael DeRosa; Stanislav Funiak; James F. Hoburg; Mustafa Emre Karagozler; Brian T. Kirby; Peter Lee 001; Padmanabhan Pillai; James Robert Reid; et al. (AI Mag., 2009)

Distributed Localization of Modular Robot Ensembles. - Stanislav Funiak; Padmanabhan Pillai; Michael P. Ashley-Rollman; Jason Campbell; Seth Copen Goldstein (Int. J. Robotics Res., 2009)

Blinky blocks: a physical ensemble programming platform. - Brian T. Kirby; Michael P. Ashley-Rollman; Seth Copen Goldstein (CHI Extended Abstracts, 2011)

Simulating multi-million-robot ensembles. - Michael P. Ashley-Rollman; Padmanabhan Pillai; Michelle L. Goodstein (ICRA, 2011)