@inproceedings{upm4087,
       publisher = {Springer-Verlag},
           month = {September},
           title = {Modelling of Modular Robot Configurations Using Graph Theory},
         address = {Espa{\~n}a},
            year = {2008},
       booktitle = {Hybrid Artificial Intelligence Systems},
             url = {http://www.springerlink.com/content/rk477134n668un46/fulltext.pdf},
        abstract = {Modular robots are systems that can change its geometry or configuration when connecting more modules or when rearranging them in a different manner to perform a variety of tasks. Graph theory can be used to describe modular robots configurations, hence the possibility to determine the flexibility of the robot to move from one point to another. When the robot's configurations are represented in a mathematical way, forward kinematics can be obtained.},
            isbn = {9783540876564},
          author = {Baca Garcia, Jose Antonio and Yerpes, Ariadna and Ferre P{\'e}rez, Manuel and Escalera Pi{\~n}a, Juan Antonio and Aracil Santonja, Rafael},
        keywords = {Modular Robots, Graph Theory, Configurations for Displacement.}
}