@inproceedings{kriesel2008beanbag,
  title = {Beanbag robotics: Robotic swarms with 1-dof units},
  booktitle = {International Conference on Ant Colony Optimization and Swarm Intelligence},
  pages = {267--274},
  organization = {Springer Berlin Heidelberg},
  year = {2008},
  slug = {kriesel2008beanbag},
  author = {Kriesel, David MM and Cheung, Eugene and Sitti, Metin and Lipson, Hod}
}