Multi-Agent Distributed and Decentralized Geometric Task Allocation. - Michael Amir; Yigal Koifman; Yakov Bloch; Ariel Barel; Alfred M. Bruckstein (CDC, 2023)

Distributed and Decentralized Control and Task Allocation for Flexible Swarms. - Yigal Koifman; Ariel Barel; Alfred M. Bruckstein (CoRR, 2024)

VariAntNet: Learning Decentralized Control of Multi-Agent Systems. - Yigal Koifman; Erez Koifman; Eran Iceland; Ariel Barel; Alfred M. Bruckstein (CoRR, 2025)