D
Distributed multirobot exploration, mapping, and task allocation
Vincent, Régis., Fox, Dieter., Ko, Jonathan., Konolige, Kurt., Limketkai, Benson., Morisset, Benoit., Ortiz, Charles., Schulz, Dirk., and Stewart, Benjamin
Ann. Math. Artif. Intell., Volume 52, Number 2-4, p.229-255, (2008)