@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} }