Ioannis M. Rekleitis Ai Peng New Edward Samuel Rankin Howie Choset Efficient Boustrophedon Multi-Robot Coverage: an algorithmic approach. 109-142 2008 52 Ann. Math. Artif. Intell. 2-4 http://dx.doi.org/10.1007/s10472-009-9120-2 db/journals/amai/amai52.html#RekleitisNRC08