@conference { 90,
	title = {Towards a Common Comparison Framework for Global-to-Local Programming of Self-assembling Robotic Systems},
	booktitle = {Workshop on Self-reconfigurable Robot Systems and Applications, IEEE Conference on Intelligent Robots and Systems (IROS)},
	year = {2007},
	url = {ftp://ftp.deas.harvard.edu/techreports/tr-14-07.pdf},
	author = {Werfel, Justin and Radhika Nagpal}
}
