A Framework and Architecture for Multi-Robot Coordination.

Rafael B. Fierro Aveek K. Das John R. Spletzer Joel M. Esposito Vijay Kumar James P. Ostrowski George J. Pappas Camillo J. Taylor Yerang Hur Rajeev Alur Insup Lee Gregory Z. Grudic Ben Southall A Framework and Architecture for Multi-Robot Coordination. 977-998 2002 21 I. J. Robotic Res. 10-11 db/journals/ijrr/ijrr21.html#FierroDSEKOPTHALGS02