Jayasree Chakraborty Amit Konar Lakhmi C. Jain Uday Kumar Chakraborty Cooperative multi-robot path planning using differential evolution. 13-27 2009 20 Journal of Intelligent and Fuzzy Systems 1-2 http://dx.doi.org/10.3233/IFS-2009-0412 db/journals/jifs/jifs20.html#ChakrabortyKJC09