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Miyashita, Shuhei; Tientcheu Ngouabeu, Aubery M; Füchslin, Rudolf M; Nakajima, Kohei; Audretsch, Christof; Pfeifer, Rolf (2011). Basic problems in self-assembling robots and a case study of segregation on Tribolon Platform. In: Meng, Yan; Jin, Yaochu. Bio-Inspired Self-Organizing Robotic Systems. Berlin [etc.]: Springer, 173-191.