Tentacles: self-configuring robotic radio networks in unknown environments. Chiu, H. C. H, Ryu, B., Zhu, H., Szekely, P., Maheswaran, R., Rogers, C., Galstyan, A., Salemi, B., Rubenstein, M., & Shen, W. In Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, pages 1383–1388, 2009. IEEE.
bibtex   
@inproceedings{chiu2009tentacles,
  title={Tentacles: self-configuring robotic radio networks in unknown environments},
  author={Chiu, Hi Cchi H and Ryu, Bo and Zhu, Hua and Szekely, Pedro and Maheswaran, Rajiv and Rogers, Craig and Galstyan, Aram and Salemi, Behnam and Rubenstein, Michael and Shen, Wei-Min},
  booktitle={Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on},
  pages={1383--1388},
  year={2009},
  organization={IEEE}
}

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