The X-Face: An improved planar passive mechanical connector for modular self-reconfigurable robots. - Nick Eckenstein; Mark Yim (IROS, 2012)

Area of acceptance for 3D self-aligning robotic connectors: Concepts, metrics, and designs. - Nick Eckenstein; Mark Yim (ICRA, 2014)

Self-assembly of a swarm of autonomous boats into floating structures. - Ian O'Hara; James Paulos; Jay Davey; Nick Eckenstein; Neel Doshi; Tarik Tosun; Jonathan Greco; Jungwon Seo; Matthew Turpin; Vijay Kumar 001; Mark Yim (ICRA, 2014)

Design, principles, and testing of a latching modular robot connector. - Nick Eckenstein; Mark Yim (IROS, 2014)

Automated Self-Assembly of Large Maritime Structures by a Team of Robotic Boats. - James Paulos; Nick Eckenstein; Tarik Tosun; Jungwon Seo; Jay Davey; Jonathan Greco; Vijay Kumar 001; Mark Yim (IEEE Trans Autom. Sci. Eng., 2015)

Modular robot connector area of acceptance from configuration space obstacles. - Nick Eckenstein; Mark Yim (IROS, 2017)

Discrete Configuration Space Methods for Determining Modular Connector Area of Acceptance in Higher Dimensions. - Nick Eckenstein; Mark Yim (IROS, 2018)