@InProceedings{	  salemi2004autonomous-discovery-and-functional-response,
  abstract	= {The topology of a self-reconfigurable robot can change at
		  anytime. This can be as a result of the failure of some
		  modules of the robot, joining new modules to the robot,
		  displacement of some modules from one location to another
		  caused by the self-reconfiguration task or any combination
		  of these cases. Considering that the process of selecting
		  relevant behaviors to accomplish a given task is based on
		  the current topology of the self-reconfigurable robot,
		  modules must be able to detect and respond to any changes
		  to the robot topology. When changes to the topology of the
		  robot are detected, modules can investigate new ways of
		  accomplishing the given task. This paper presents a
		  distributed solution, FEATURE algorithm, to the problem of
		  autonomous discovery and functional response to topology
		  change. The result is experimentally verified and
		  demonstrated on the CONRO self-reconfigurable robots.},
  address	= {Sendai, Japan},
  author	= {Behnam Salemi and Peter Will and Wei-Min Shen},
  booktitle	= iros-04,
  pages		= {2667--2672},
  title		= {Autonomous Discovery and Functional Response to Topology
		  Change in Self-Reconfigurable Robots},
  year		= {2004}
}