Locomoting Robots Composed of Immobile Robots. - Ross Warkentin; William Savoie; Daniel I. Goldman (IRC, 2018)

Phototactic supersmarticles. - William Savoie; Sarah Cannon; Joshua J. Daymude; Ross Warkentin; Shengkai Li; Andréa W. Richa; Dana Randall; Daniel I. Goldman (Artif. Life Robotics, 2018)

A robot made of robots: Emergent transport and control of a smarticle ensemble. - William Savoie; Thomas A. Berrueta; Zachary Jackson; Ana Pervan; Ross Warkentin; Shengkai Li; Todd D. Murphey; Kurt Wiesenfeld; Daniel I. Goldman (Sci. Robotics, 2019)