Heterogeneity for Increasing Performance and Reliability of Self-Reconfigurable Multi-Robot Organisms - Serge Kernbach; Florian Schlachter; Raja Humza; Jens Liedke; Sergej Popesku; Sheila Russo; Tommaso Ranzani; Luigi Manfredi; Cesare Stefanini; Rene Matthias; Christopher S. F. Schwarzer; Benjamin Girault; et al. (CoRR, 2011)