GENCEM: a genetic algorithms approach to coordinated exploration and mapping with multiple autonomous robots. - Christopher C. Sotzing; Win Mar Htay; Clare Bates Congdon (Congress on Evolutionary Computation, 2005)

Improving the coordination efficiency of limited-communication multi-autonomus underwater vehicle operations using a multiagent architecture. - Christopher C. Sotzing; David M. Lane (J. Field Robotics, 2010)