http://www.research.ibm.com/journal/sj/mit/sectionc/martin.txt
Published in 1996, this article makes references to Lego Logo, a predecessor of Robolab and Yellow Brick Logo. Very useful information about experiences with the Lego Brick and an interesting list of things that could be possible with this technology.

http://lcs.www.media.mit.edu/groups/el/Papers/mres/etrd/lifelongk.htm Links to papers.

http://ase.tufts.edu/devtech/projects.html#ecto Link to papers.