@INPROCEEDINGS{4626521, 
title={Recycling controllers}, 
author={Hadas Kress-Gazit and Nora Ayanian and George J. Pappas and Vijay Kumar}, 
booktitle={IEEE International Conf. on Automation Science and Engineering}, 
year={2008}, 
month={Aug}, 
volume={}, 
number={}, 
pages={772-777}, 
keywords={automata theory, collision avoidance, control system synthesis, mobile robots, multi-robot systems, atomic controller, collision avoidance, control scheme design, deadlock reduction, discrete automaton, heterogeneous robot team, recycling controller}, 
doi={10.1109/COASE.2008.4626521}, 
ISSN={}, }