Terrance L. Huntsberger Ashitey Trebi-Ollennu Hrand Aghazarian Paul S. Schenker Paolo Pirjanian Hari Das Nayar Distributed Control of Multi-Robot Systems Engaged in Tightly Coupled Tasks. 79-92 2004 17 Auton. Robots 1 http://www.springerlink.com/index/10.1023/B:AURO.0000032939.08597.62 db/journals/arobots/arobots17.html#HuntsbergerTASPN04