Architecture, Abstractions, and Algorithms for Controlling Large Teams of Robots: Experimental Testbed and Results,

N. Michael, J. Fink, S. G. Loizou, and V. Kumar, “Architecture, Abstractions, and Algorithms for Controlling Large Teams of Robots: Experimental Testbed and Results,” in Int. Symposium on Robotics Research, Hiroshima, Japan, 2007.