Ioannis M. Rekleitis Vincent Lee-Shue Ai Peng New Howie Choset Limited Communication, Multi-robot Team Based Coverage. 3462-3468 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1308789 db/conf/icra/icra2004-4.html#RekleitisLNC04