Segregating multiple groups of heterogeneous units in robot swarms using abstractions. - Edson B. F. Filho; Luciano C. A. Pimenta (IROS, 2015)

Decentralized Radial Segregation in Heterogeneous Swarms of Robots. - Edson B. Ferreira Filho; Luciano C. A. Pimenta (CDC, 2019)

Abstraction based approach for segregation in heterogeneous robotic swarms. - Edson B. F. Filho; Luciano C. A. Pimenta (Robotics Auton. Syst., 2019)

Segregation of Heterogeneous Swarms of Robots in Curves. - Edson B. Ferreira Filho; Luciano C. A. Pimenta (ICRA, 2020)