A Toolchain for the Design and Simulation of Foldable Programmable Matter,

S. Gray, J. Seo, P. White, N. Zeichner, M. Yim, and V. Kumar, “A Toolchain for the Design and Simulation of Foldable Programmable Matter,” in Proceedings of the ASME International Design Technical Conferences and Computer and Information in Engineering Conference, Montreal, Canada, 2010.