Self-assembly (Whitesides and Grzybowski, 2002) can also be seen as a form of self-organization. There have been several examples in hard ALife of self-assembling or self-reconfigurating robots (Murata et al., 1994; Holland and Melhuish, 1999; Zykov et al., 2005; Dorigo et al., 2006; Støy and Nagpal, 2007; Ampatzis et al., 2009; Rubenstein et al., 2014; Werfel et al., 2014).