From a Multi-robot Global Plan to Single-robot Actions. - Bernd Brüggemann; Elmar Langetepe; Andreas Lenerz; Dirk Schulz 001 (ICINCO (2), 2012)

Strategic Deployment in Graphs. - Elmar Langetepe; Andreas Lenerz; Bernd Brüggemann (Informatica (Slovenia), 2015)