Acuña Acuña, E.G., Cruz-Doriano, S. and Chi-Chan, M.T. de J. (2026) “Bio-Swarm Modular Architecture for Climbing Robots: Analytical Characterization of Critical-Mass Thresholds and Coordination Constraints”, Journal of Climbing and Walking Robots [Preprint]. doi:10.47852/bonviewJCWR62029937.