M. Malley, B. Haghighat, L. Houel, and R. Nagpal, “Eciton robotica: Design and Algorithms for an Adaptive Self-Assembling Soft Robot Collective”, Intl. Conferenc on Robotics and Automation (ICRA). 2020.

N. Hoff, R. Wood, and R. Nagpal, “Effect of Sensor and Actuator Quality on Robot Swarm Algorithm Performance”, in Intl. Conference on Robots and Systems (IROS), 2011. [Online]. Available: Referenced from ssr.seas.harvard.edu: Effect of Sensor and Actuator Quality on Robot Swarm Algorithm Performance

H. McCreery, J. Bilek, R. Nagpal, and M. Breed, “Effects of load mass and size on cooperative transport in ants over multiple transport challenges”, Journal of Experimental Biology, vol. doi: 10.1242/jeb.206821, 2019, [Online]. Available: Open Access: Effects of load mass and size on cooperative transport in ants over multiple transport challenges

M. Duduta, F. Berlinger, R. Nagpal, D. Clarke, R. Wood, and Z. Temel, “Electrically-latched compliant jumping mechanism based on a dielectric elastomer actuator”, Smart Materials and Structures, vol. 28, no. 09LT01, 2019.

M. Gibson, A. Patel, R. Nagpal, and N. Perrimon, “The Emergence of Geometric Order in Proliferating Metazoan Epithelia”, Nature, vol. 442, no. 7106, 2006.

R. Nagpal and M. Mamei, “Engineering Amorphous Computing Systems”, Methodologies and Software Engineering for Agent Systems, 2003, [Online]. Available: Referenced from ssr.seas.harvard.edu: Engineering Amorphous Computing Systems

R. Nagpal, A. Patel, and M. Gibson, “Epithelial topology. Problems and Paradigms”, BioEssays, vol. 30, no. 3, pp. 260–266, 2008, [Online]. Available: Referenced from ssr.seas.harvard.edu: Epithelial topology. Problems and Paradigms

M. Gauci, M. Ortiz, M. Rubenstein, and R. Nagpal, “Error Cascades in Collective Behavior: A Case Study of the Gradient Algorithm on 1000 Physical Agents”, in 16th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2017.

B. Green, P. Bardunias, S. Turner, R. Nagpal, and J. Werfel, “Excavation and aggregation as organizing factors in de novo construction by mound-building termites”, Proceedings of the Royal Society B, vol. 284, no. 1856, 2017, [Online]. Available: Open Access: Excavation and aggregation as organizing factors in de novo construction by mound-building termites

J. Bachrach, R. Nagpal, M. Salib, and H. Shrobe, “Experimental Results and Theoretical Analysis of a Self-Organizing Global Coordinate System for Ad Hoc Sensor Networks”, Telecommunications Systems Journal, 2003, [Online]. Available: Referenced from ssr.seas.harvard.edu: Experimental Results and Theoretical Analysis of a Self-Organizing Global Coordinate System for Ad Hoc Sensor Networks

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

P. Bardunias et al., “The extension of internal humidity levels beyond the soil surface facilitates mound expansion in Macrotermes”, Proceedings of the Royal Society B: Biological Science, vol. 287, no. 1930, 2020.