B. [. Barraquand, J. Langlois, and . Latombe, Numerical potential field techniques for robot path planningRobots in Unstructured Environments', 91 ICAR, Advanced Robotics Fifth International Conference on, pp.1012-1017, 1991.

J. Derek, C. R. Bennet, and . Mcinnes, Distributed control of multi-robot systems using bifurcating potential fields Towards Autonomous Robotic Systems 2009 : Intelligent, Autonomous Robotics in the UK Collaborative exploration of unknown environments with teams of mobile robots, M. Beetz, J. Hertzberg, M. Ghallab, and M.E, pp.256-264, 2010.

]. L. Pollackcck02, M. F. Chaimowicz, V. Campos, and . Kumar, Dynamic role assignment for cooperative robots Using occupancy grids for mobile robot perception and navigation, Robotics and Automation Proceedings. ICRA '02. IEEE International Conference on, pp.293-298, 1989.

P. Brian, . Gerkey, J. Maja, and . Matari´cmatari´c, A formal analysis and taxonomy of task allocation in multi-robot systems. The Intl, McC08] Ruben Martinez-cantin and Jose A. Castellanos. Multi-robot marginal-slam. IJCAI Workshop on Multi-Robotic Systems for Societal Applications, pp.939-954, 2004.

R. Simmons, D. Apfelbaum, W. Burgard, M. Fox, D. Moors et al., Coordination for multi-robot exploration and mapping Cooperative localization and mapping Efficient exploration of unknown indoor environments using a team of mobile robots Multi-robot slam with sparse extended information filers, Proceedings of the AAAI National Conference on Artiicial Intelligence Networking, Sensing and Control Proceedings of the 2006 IEEE International Conference onSMMB08] Cyrill StachnissSta06] C. Stachniss. Exploration and Mapping with Mobile RobotsTL05] Sebastian Thrun and Yufeng Liu International Journal of Robotics Research, pp.596-601205, 2000.

B. Yamauchi, A frontier-based approach for autonomous exploration, Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation', p.146, 1997.
DOI : 10.1109/CIRA.1997.613851

B. Yamauchi, Frontier-based exploration using multiple robots, Proceedings of the second international conference on Autonomous agents , AGENTS '98, pp.47-53, 1998.
DOI : 10.1145/280765.280773
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.138.4440

[. Zlot, A. Stentz, B. Dias, and S. Thayer, Multi-robot exploration controlled by a market economy, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), pp.3016-3023, 2002.
DOI : 10.1109/ROBOT.2002.1013690