Giuseppe Prencipe Instantaneous Actions vs. Full Asynchronicity : Controlling and Coordinating a Set of Autonomous Mobile Robots. 154-171 2001 conf/ictcs/2001 ICTCS http://link.springer.de/link/service/series/0558/bibs/2202/22020154.htm db/conf/ictcs/ictcs2001.html#Prencipe01