A formally verified modular decentralized robot control system. - Arthur G. O. Mutambara; Hugh F. Durrant-Whyte (IROS, 1993)

Fully Decentralized Estimation and Control for a Modular Wheeled Mobile Robot. - Arthur G. O. Mutambara; Hugh F. Durrant-Whyte (Int. J. Robotics Res., 2000)

Estimation and control for a modular wheeled mobile robot. - Arthur G. O. Mutambara; Hugh F. Durrant-Whyte (IEEE Trans. Control. Syst. Technol., 2000)