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Efficient constant-velocity reconfiguration of crystalline robotsAloupis, Greg; Collette, Sébastien; Damian, Mirela; Demaine, Erik D.; Flatland, Robin; Langerman, Stefan; O'Rourke, Joseph; Pinciu, Val; Ramaswami, Suneeta; Sacristán, Vera; Wuhrer, Stefanie · Robotica · 2011