Comparing Coordination Schemes for Miniature Robotic Swarms: A Case Study in Boundary Coverage of Regular Structures. - Nikolaus Correll; Samuel Rutishauser; Alcherio Martinoli (ISER, 2006)

Collaborative coverage using a swarm of networked miniature robots. - Samuel Rutishauser; Nikolaus Correll; Alcherio Martinoli (Robotics Auton. Syst., 2009)