@TechReport{Dartmouth:TR98-342,
  author = {Craig McGray and Daniela Rus},
  title = {{Abstractions for Simplifying Planning in Self-Reconfigurable Robotic Systems}},
  institution = {Dartmouth College, Computer Science},
  address = {Hanover, NH},
  number = {PCS-TR98-342},
  year = {1998},
  month = {October},
  URL = {http://www.cs.dartmouth.edu/reports/TR98-342.pdf},
  abstract = {
    In [KVRM], we described a three-dimensional self-reconfiguring robot module called the Molecule Robot.  
        In this paper, we provide a system of abstractions for modules in self-reconfigurable robotic systems, and show how this system can be used to simplify the motion planning of the Molecule Robot system.
  }
}