RASCAL: A Scalable, High-redundancy Robot for Automated Storage and Retrieval Systems. - Richard Black; Marco Caballero; Andromachi Chatzieleftheriou; Tim Deegan; Philip Heard; Freddie Hong; Russell Joyce; Sergey Legtchenko; Antony I. T. Rowstron; Adam Smith; David Sweeney; Hugh Williams (ICRA, 2024)