Coordinating a heterogeneous robot swarm using Robot Utility-based Task Assignment (RUTA). - Tamer Abukhalil; Madhav Patil; Sarosh H. Patel; Tarek M. Sobh (AMC, 2016)

UB robot swarm - Design, implementation, and power management. - Madhav Patil; Tamer Abukhalil; Sarosh H. Patel; Tarek M. Sobh (ICCA, 2016)

Ub Swarm: Hardware Implementation of Heterogeneous Swarm robot with Fault Detection and Power Management. - Madhav Patil; Tamer Abukhalil; Sarosh H. Patel; Tarek M. Sobh (Int. J. Comput., 2016)

Deployment Environment for a Swarm of Heterogeneous Robots. - Tamer Abukhalil; Madhav Patil; Sarosh H. Patel; Tarek M. Sobh (Robotics, 2016)