Stochastic Modular Robotic Systems: A Study of Fluidic Assembly Strategies. Tolley, M. T., Kalontarov, M., Neubert, J., Erickson, D., & Lipson, H. IEEE Trans. Robotics, 26(3):518–530, 2010.
Stochastic Modular Robotic Systems: A Study of Fluidic Assembly Strategies [link]Paper  doi  bibtex   
@article{DBLP:journals/trob/TolleyKNEL10,
  author       = {Michael Thomas Tolley and
                  Michael Kalontarov and
                  Jonas Neubert and
                  David Erickson and
                  Hod Lipson},
  title        = {Stochastic Modular Robotic Systems: {A} Study of Fluidic Assembly
                  Strategies},
  journal      = {{IEEE} Trans. Robotics},
  volume       = {26},
  number       = {3},
  pages        = {518--530},
  year         = {2010},
  url          = {https://doi.org/10.1109/TRO.2010.2047299},
  doi          = {10.1109/TRO.2010.2047299},
  timestamp    = {Sat, 30 Sep 2023 01:00:00 +0200},
  biburl       = {https://dblp.org/rec/journals/trob/TolleyKNEL10.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

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