@article{larkworthy2011characterization,
  title={A characterization of the reconfiguration space of self-reconfiguring robotic systems},
  author={Larkworthy, Tom and Ramamoorthy, Subramanian},
  journal={Robotica},
  volume={29},
  number={01},
  pages={73--85},
  year={2011},
  publisher={Cambridge Univ Press}
}