@InProceedings{akitaya_et_al:LIPIcs.ESA.2019.3,
  author =	{Akitaya, Hugo A. and Arkin, Esther M. and Damian, Mirela and Demaine, Erik D. and Dujmovi\'{c}, Vida and Flatland, Robin and Korman, Matias and Palop, Belen and Parada, Irene and van Renssen, Andr\'{e} and Sacrist\'{a}n, Vera},
  title =	{{Universal Reconfiguration of Facet-Connected Modular Robots by Pivots: The O(1) Musketeers}},
  booktitle =	{27th Annual European Symposium on Algorithms (ESA 2019)},
  pages =	{3:1--3:14},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-124-5},
  ISSN =	{1868-8969},
  year =	{2019},
  volume =	{144},
  editor =	{Bender, Michael A. and Svensson, Ola and Herman, Grzegorz},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ESA.2019.3},
  URN =		{urn:nbn:de:0030-drops-111247},
  doi =		{10.4230/LIPIcs.ESA.2019.3},
  annote =	{Keywords: Reconfiguration, geometric algorithm, pivoting squares, modular robots}
}