@InProceedings{	  everist2006transformation-of-control-in-congruent-self-reconfigurable,
  abstract	= {Much work on self-reconfigurable robotics has been focused
		  on motion planning and physical reconfiguration of the
		  robot. Using the Superbot self-reconfigurable robot, we
		  focus on the details of realizing locomotion gaits given
		  that a single robot topology can be realized in a large
		  number of different ways. That is, each module in the robot
		  topology has 4 symmetric orientations that are functional
		  and shape equivalent. Once a role is selected for each
		  module, such as through the use of hormone-inspired
		  control, each module's role is supplied with a gait
		  template which then must be transformed to suit the local
		  configurations of each module with respect to the global
		  topology. We provide a theoretical framework for which this
		  can be accomplished. },
  address	= {Beijing, China},
  author	= {Jacob Everist and Feili Hou and Wei-Min Shen},
  booktitle	= iros-06,
  month		= oct,
  title		= {Transformation of Control in Congruent Self-Reconfigurable
		  Robot Topologies},
  year		= {2006}
}