@InProceedings{	  rubenstein2004docking-among-independent-and-autonomous,
  abstract	= {Docking between independent groups of self-reconfigurable
		  robotic modules enables the merger of two or more
		  independent self-reconfigurable robots. This ability allows
		  independent reconfigurable robots in the same environment
		  to join together to complete a task that would otherwise
		  not be possible with the individual robots prior to
		  merging. The challenges for this task include: (1)
		  coordinate and align two independent self-reconfigurable
		  robots using the docking guidance system available only at
		  the connectors of the docking modules; (2) overcome the
		  inevitable errors in the alignment by a novel and
		  coordinated movements from both docking ends; (3) ensure
		  the secure connection at the end of docking; (4) switch
		  configuration and let modules to discover the changes and
		  new connections so that the two docked robots will move as
		  a single coherent robot. We have developed methods for
		  overcome these challenging problems and accomplished for
		  the first time an actual docking between two independent
		  CONRO robots each with multiple modules.},
  address	= {New Orleans, USA},
  author	= {Michael Rubenstein and Kenneth Payne and Peter Will and
		  Wei-Min Shen},
  booktitle	= icra-04,
  month		= {April/May},
  pages		= {2877--2882},
  title		= {Docking among Independent and Autonomous {CONRO}
		  Self-Reconfigurable Robots},
  year		= {2004}
}