@inproceedings{AyanianICRA10,
        Address = {Anchorage, AK},
        Author = {Nora Ayanian and Vijay Kumar},
        Booktitle = {IEEE International Conference on Robotics and Automation},
        Month = {May},
        Pages = {3537 - 3542},
        Title = {Abstractions and Controllers for Groups of Robots in Environments with Obstacles},
        Year = {2010}}