Tucker R. Balch Gary Boone Thomas R. Collins Harold Forbes Douglas C. MacKenzie Juan Carlos Santamaría Io, Ganymede, and Callisto A Multiagent Robot Trash-Collecting Team. 39-51 1995 16 AI Magazine 2 db/journals/aim/aim16.html#BalchBCFMS95 http://www.aaai.org/ojs/index.php/aimagazine/article/view/1132