Michael DeRosa Seth Copen Goldstein Peter Lee Jason Campbell Padmanabhan Pillai Distributed Watchpoints: Debugging Large Modular Robot Systems. 315-329 2008 27 I. J. Robotic Res. 3-4 http://dx.doi.org/10.1177/0278364907084986 db/journals/ijrr/ijrr27.html#DeRosaGLCP08