A framework and architecture for multirobot coordination,

V. Kumar, A. Fierro, J. Das, Y. Spletzer, Y. Hur, R. Alur, J. Esposito, G. Grudic, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, and C. J. Talyor, “A framework and architecture for multirobot coordination,” nternational Journal of Robotics Research, vol. 21, iss. 10-11, pp. 977-995, 2002.

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