Where Are You? - William M. Spears; Jerry C. Hamann; Paul M. Maxim; Thomas Kunkel; Rodney Heil; Dimitri V. Zarzhitsky; Diana F. Spears; Christer Karlsson (Swarm Robotics, 2006)

Trilateration Localization for Multi-robot Teams. - Paul M. Maxim; Suranga Hettiarachchi; William M. Spears; Diana F. Spears; Jerry C. Hamann; Thomas Kunkel; Caleb Speiser (ICINCO-RA (2), 2008)