@inproceedings{escidoc:2316388, title = {Graph signature for self-reconfiguration planning of modules with symmetry}, author = {Asadpour, Masoud and Ashtiani, Mohammad Hassan Zokaei and Spr{\"o}witz, Alexander and Ijspeert, Auke Jan}, booktitle = {Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems}, pages = {5295--5300}, publisher = {IEEE}, address = {St. Louis, MO}, year = {2010}, doi = {10.1109/IROS.2009.5353943} }