A framework and architecture for multirobot coordination,

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

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