Operating a large fleet of mobile robots using the plan-merging paradigm. - Rachid Alami 001; Sara Fleury; Matthieu Herrb; Félix Ingrand; Samer Qutub (ICRA, 1997)

How to solve deadlock situations within the plan-merging paradigm for multi-robot cooperation. - Samer Qutub; Rachid Alami 001; Félix Ingrand (IROS, 1997)

A Scheme for Coordinating Multi-robots Planning Activities and Plans Execution. - Rachid Alami 001; François Felix Ingrand; Samer Qutub (ECAI, 1998)