Hierarchical motion planning for self-reconfigurable modular robots. Bhat, P., Kuffner, J., Goldstein, S., & Srinivasa, S. In IEEE International Conference on Robotics and Automation, 2006.
bibtex   
@inproceedings{bhat2006hierarchical,
  title={Hierarchical motion planning for self-reconfigurable modular robots},
  author={Bhat, P. and Kuffner, J. and Goldstein, S. and Srinivasa, S.S.},
  booktitle=icra,
  year={2006}
}

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