Matthew Dunbabin Peter Corke Iuliu Vasilescu Daniela Rus Experiments with Cooperative Control of Underwater Robots. 815-833 2009 28 I. J. Robotic Res. 6 http://dx.doi.org/10.1177/0278364908098456 db/journals/ijrr/ijrr28.html#DunbabinCVR09