Energy Efficient Robot Rendezvous. - Pawel Zebrowski; Yaroslav Litus; Richard T. Vaughan (CRV, 2007)

The Frugal Feeding Problem: Energy-efficient, multi-robot, multi-place rendezvous. - Yaroslav Litus; Richard T. Vaughan; Pawel Zebrowski (ICRA, 2007)

Distributed Gradient Optimization with Embodied Approximation. - Yaroslav Litus; Richard T. Vaughan (ALIFE, 2008)

A Distributed Heuristic for Energy-Efficient Multirobot Multiplace Rendezvous. - Yaroslav Litus; Pawel Zebrowski; Richard T. Vaughan (IEEE Trans. Robotics, 2009)

What a Sunflower Can Teach a Robot? - Efficient Robot Queuing by Reverse Phyllotaxis. - Yaroslav Litus; Richard T. Vaughan (ALIFE, 2010)

Fall in! Sorting a Group of Robots with a Continuous Controller. - Yaroslav Litus; Richard T. Vaughan (CRV, 2010)