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An impressive variety of systems have been designed with capabilities such as forming, growing, reconfiguring, repairing and replicating themselves, based on information coded in their components. ABSTRACT | In this paper, we review half a century of research on the design of systems displaying (physical) self-assembly of macroscopic components. We report on the experience gained in the design of 21 such systems, exhibiting components ranging from passive mechanical parts to mobile robots. Wedoi:10.1109/jproc.2008.927352 fatcat:degvxseuynb6pnp2lqws6fpu5a