How search and its subtasks scale in N robots.

Huadong Wang Michael Lewis Prasanna Velagapudi Paul Scerri Katia P. Sycara How search and its subtasks scale in N robots. 141-148 2009 HRI http://doi.acm.org/10.1145/1514095.1514122 conf/hri/2009 db/conf/hri/hri2009.html#WangLVSS09