@conference {368,
	title = {Abstractions and controllers for groups of robots in environments with obstacles},
	booktitle = {2010 IEEE International Conference on Robotics and Automation (ICRA 2010)2010 IEEE International Conference on Robotics and Automation},
	year = {2010},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Anchorage, AK},
	isbn = {978-1-4244-5038-1},
	doi = {10.1109/ROBOT.2010.5509534},
	url = {http://ieeexplore.ieee.org/document/5509534/http://xplorestaging.ieee.org/ielx5/5501116/5509124/05509534.pdf?arnumber=5509534},
	author = {Ayanian, Nora and Kumar, Vijay}
}
