Distributed control of multi-robot systems using bifurcating potential fields. - Derek J. Bennet; Colin R. McInnes (Robotics Auton. Syst., 2010)

Enhancing Self-similar Patterns by Asymmetric Artificial Potential Functions in Partially Connected Swarms. - Giuliano Punzo; Derek J. Bennet; Malcolm Macdonald (TAROS, 2011)

Enabling and Exploiting Self-Similar Central Symmetry Formations. - Giuliano Punzo; Philippos Karagiannakis; Derek J. Bennet; Malcolm Macdonald; Stephan Weiss 001 (IEEE Trans. Aerosp. Electron. Syst., 2014)