Yaroslav Litus Richard T. Vaughan Pawel Zebrowski The Frugal Feeding Problem: Energy-efficient, multi-robot, multi-place rendezvous. 27-32 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.363760 db/conf/icra/icra2007.html#LitusVZ07