@inproceedings{AyanianDETC08,
        Address = {New York, NY},
        Author = {Nora Ayanian and Paul White and Adam Hal\'{a}sz and Mark Yim and Vijay Kumar},
        Booktitle = {ASME Mechanisms and Robotics Conference},
        Month = {August},
        Pages = {1169-1176},
        Title = {Stochastic Control for Self-Assembly of {XB}ots},
        Volume = {2},
        Year = {2008}}