Adaptive formation transition among a mobile robot group based on phase gradient. - Daisuke Kurabayashi; Tatsuki Choh; Jia Cheng; Tetsuro Funato (ROBIO, 2008)

Adaptive Formation Transition of a Swarm of Mobile Robots Based on Phase Gradient. - Daisuke Kurabayashi; Tatsuki Choh; Jia Cheng; Tetsuro Funato (J. Robotics Mechatronics, 2010)

Guidance of Robot Swarm by Phase Gradient in 3D Space. - Keita Horayama; Daisuke Kurabayashi; Ahmad Syarif; Ayaka Hashimoto; Takuro Moriyama; Tatsuki Choh (ICIRA (1), 2016)