Michael DeRosa Jason Campbell Padmanabhan Pillai Seth Copen Goldstein Peter Lee Todd C. Mowry Distributed Watchpoints: Debugging Large Multi-Robot Systems. 3723-3729 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.364049 db/conf/icra/icra2007.html#DeRosaCPGLM07