Frédéric Bourgault George Mathews Alex Brooks Hugh F. Durrant-Whyte An Indoor Experiment in Decentralized Coordinated Search. 407-416 2004 ISER http://dx.doi.org/10.1007/11552246_39 conf/iser/2004 db/conf/iser/iser2004.html#BourgaultMBD04