Asymptotically Optimal Kinodynamic Motion Planning for Self-reconfigurable Robots. - John H. Reif; Sam Slee (WAFR, 2006)

Optimal Kinodynamic Motion Planning for 2D Reconfiguration of Self-Reconfigurable Robots. - John H. Reif; Sam Slee (Robotics: Science and Systems, 2007)

Robomotion: Scalable, Physically Stable Locomotion for Self-reconfigurable Robots. - Sam Slee; John H. Reif (WAFR, 2010)

Asymptotically Optimal Kinodynamic Motion Planning for a Class of Modular Self-Reconfigurable Robots. - John H. Reif; Sam Slee (Int. J. Comput. Geom. Appl., 2011)