Multi-Robot Organisms: State of the Art - Serge Kernbach; Oliver Scholz; Kanako Harada; Sergej Popesku; Jens Liedke; Raja Humza; Wenguo Liu 001; Fabio Caparrelli; Jaouhar Jemai; Jiri Havlik; Eugen Meister; Paul Levi (CoRR, 2011)

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)

Active wheel - An autonomous modular robot. - Sergej Popesku; Eugen Meister; Florian Schlachter; Paul Levi (RAM, 2013)