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R. Patel, P. Frasca, and F. Bullo, “Centroidal Area-constrained Partitioning For Robotic Networks”, Journal of Dynamic Systems Measurement and Control-transactions of the ASME, vol. 136, p. –, 2014.
J. W. Durham, R. Carli, P. Frasca, and F. Bullo, “Discrete Partitioning and Coverage Control For Gossiping Robots”, IEEE Transactions on Robotics, vol. 28, p. 364–378, 2012.
F. Bullo, R. Carli, and P. Frasca, “Gossip Coverage Control For Robotic Networks: Dynamical Systems on the Space of Partitions”, Siam Journal on Control and Optimization, vol. 50, p. 419–447, 2012.