Ruben Stranders Alessandro Farinelli Alex Rogers Nicholas R. Jennings Decentralised Coordination of Mobile Sensors Using the Max-Sum Algorithm. 299-304 2009 IJCAI http://ijcai.org/papers09/Papers/IJCAI09-058.pdf conf/ijcai/2009 db/conf/ijcai/ijcai2009.html#StrandersFRJ09