Key features: 1. Novel, controlled latching ability with passive magnets, 2. Self-assisted bond formation, 3. Self-assisted bond breakage, 4. Bond avoidance with zero communication, 5. Low power consumption.
Two papers on the way in 2019; One to be submitted to ICRA 2019, and the second one to IEEE/ASME Transanctions on Mechatronics. The latter will have a complete stochastic self-assembly implementation.