Virtual leaders, artificial potentials and coordinated control of groups. - Naomi Ehrich Leonard; Edward Fiorelli (CDC, 2001)

Cooperative control of mobile sensor networks: Adaptive gradient climbing in a distributed environment. - Petter Ögren; Edward Fiorelli; Naomi Ehrich Leonard (IEEE Trans. Autom. Control., 2004)

Exploring scalar fields using multiple sensor platforms: Tracking level curves. - Fumin Zhang 001; Edward Fiorelli; Naomi Ehrich Leonard (CDC, 2007)