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Liu, W. and Winfield, A. F. (2010) Autonomous morphogenesis in self-assembling robots using IR-based sensing and local communications. In: Dorigo, M., Birattari, M., Di Caro, G., Doursat, René, Engelbrecht, A., Floreano, D., Gambardella, L., Groß, R., Sahin, E., Sayama, H. and Stützle, T., eds. (2010) Swarm Intelligence. (6234) Springer Berlin / Heidelberg, pp. 107-118. Available from: http://eprints.uwe.ac.uk/13250