@Article{	  RA-Magazine-2007,
  abstract	= {The field of modular self-reconfigurable robotic systems addresses 
the design, fabrication,
motion planning, and control of autonomous kinematic machines with variable
morphology. Beyond conventional actuation, sensing, and control typically found in
fixed-morphology robots, self-reconfigurable robots are also able to deliberately
change their own shape by rearranging the connectivity of their parts in order to
adapt to new circumstances, perform new tasks, or recover from damage.
Over the last two decades, the field of modular robotics has advanced from 
proof-of-concept
systems to elaborate physical implementations and simulations. The goal of this 
article is to outline
some of this progress and identify key challenges and opportunities that lay ahead.},
  author	= {Mark Yim and Wei-Min Shen and Behnam Salemi and Daniela Rus and Mark Moll and Hod Lipson and Eric Klavins and Gregory S. Chirikjian},
  journal	= {IEEE Robotics and Autonomation Magazine},
  keywords	= { modular and self-reconfigurable robots},
  number	= {},
  pages		= {43--53},
  title		= {Modular Self-Reconfigurable Robot Systems -- Challenges 
  and Opportunities for the Future},
  volume	= {March},
  year		= {2007}
}