@article{escidoc:2310487, title = {Roombots: A hardware perspective on 3D self-reconfiguration and locomotion with a homogeneous modular robot}, author = {Spr{\"o}witz, Alexander and Moeckel, Rico and Vespignani, Massimo and Bonardi, St\'ephane and Ijspeert, Auke Jan}, journal = {{Robotics and Autonomous Systems}}, volume = {62}, number = {7}, pages = {1016--1033}, publisher = {Elsevier}, address = {Amsterdam}, year = {2014}, doi = {10.1016/j.robot.2013.08.011} }