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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.