Toshio Fukuda Hiroo Mizoguchi Kousuke Sekiyama Group Behavior Control for MARS (Micro Autonomous Robotic System). 1550-1555 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-2.html#FukudaMS99 http://dx.doi.org/10.1109/ROBOT.1999.772580