R. Weiss, G. Homsy, and R. Nagpal, “Programming Biological Cells”, in International Conference on Architectural Support for Programming Languages and Operating Systems, Wild & Crazy Ideas Session, 1998.

J. Werfel and R. Nagpal, “Three-dimensional construction with mobile robots and modular blocks”, International Journal of Robotics Research, vol. 27, no. 3-4, pp. 463–479, 2008, [Online]. Available: Referenced from ssr.seas.harvard.edu: Three-dimensional construction with mobile robots and modular blocks

J. Werfel, D. Ingber, and R. Nagpal, “Collective Construction of Environmentally-adaptive Structures”, in IEEE Conference on Intelligent Robots and Systems (IROS), 2007. [Online]. Available: Referenced from ssr.seas.harvard.edu: Collective Construction of Environmentally-adaptive Structures

J. Werfel and R. Nagpal, “Towards a Common Comparison Framework for Global-to-Local Programming of Self-assembling Robotic Systems”, in Workshop on Self-reconfigurable Robot Systems and Applications, IEEE Conference on Intelligent Robots and Systems (IROS), 2007. [Online]. Available: Referenced from ftp.deas.harvard.edu: Towards a Common Comparison Framework for Global-to-Local Programming of Self-assembling Robotic Systems

J. Werfel, “Anthills Built to Order: Automating Construction with Artificial Swarms”, 2006. [Online]. Available: Referenced from ssr.seas.harvard.edu: Anthills Built to Order: Automating Construction with Artificial Swarms

J. Werfel, Y. Bar-Yam, D. Rus, and and R. Nagpal, “Distributed Construction by Mobile Robots with Enhanced Building Blocks”, in IEEE International Conference on Robotics and Automation (ICRA), 2006. [Online]. Available: Referenced from ssr.seas.harvard.edu: Distributed Construction by Mobile Robots with Enhanced Building Blocks

J. Werfel and R. Nagpal, “Extended Stigmergy in Collective Construction”, IEEE Intelligent Systems, vol. 21, no. 2, pp. 20–28, 2006, [Online]. Available: Referenced from ssr.seas.harvard.edu: Extended Stigmergy in Collective Construction

J. Werfel and R. Nagpal, “Three-dimensional Directed Construction by Mobile Robots”, in Workshop on Self-Reconfigurable Modular Robots, Robotics: Science and Systems (RSS), 2006. [Online]. Available: Referenced from ssr.seas.harvard.edu: Three-dimensional Directed Construction by Mobile Robots

J. Werfel, Y. Bar-Yam, and R. Nagpal, “Building Patterned Structures with Robot Swarms”, in Intl. Joint Conference on Artificial Intelligence (IJCAI ’05), 2005. [Online]. Available: Referenced from ssr.seas.harvard.edu: Building Patterned Structures with Robot Swarms

J. Werfel, K. Petersen, and R. Nagpal, “Designing Collective Behavior in a Termite-Inspired Robot Construction Team”, Science, vol. 343, no. 6172, 2014.

J. Werfel, K. Petersen, and R. Nagpal, “Distributed Multi-Robot Algorithms for the TERMES 3D Collective Construction System”, in Modular Robotics Workshop, Intl. Conference on Robots and Systems (IROS), 2011. [Online]. Available: Referenced from ssr.seas.harvard.edu: Distributed Multi-Robot Algorithms for the TERMES 3D Collective Construction System

G. Werner-Allen, G. Tewari, A. Patel, M. Welsh, and R. Nagpal, “Firefly-Inspired Sensor Network Synchronicity with Realistic Radio Effects”, in ACM Conference on Embedded Networked Sensor Systems (SenSys ’05), 2005.

R. Wood, R. Nagpal, and G.-Y. Wei, “Flight of the Robobees”, Scientific American, 2013.