Simultaneous localization, calibration, and tracking in an ad hoc sensor network. - Christopher Taylor; Ali Rahimi; Jonathan Bachrach; Howard E. Shrobe; Anthony Grue (IPSN, 2006)

Protoswarm: a language for programming multi-robot systems using the amorphous medium abstraction. - Jonathan Bachrach; James McLurkin; Anthony Grue (AAMAS (3), 2008)