Distributed Path Planning for Connectivity Under Uncertainty by Ant Colony Optimization. Fridman, L., Weber, S., Kumar, V., & Kam, M. In American Control Conference (ACC), pages 1952-1958, jun, 2008.
bibtex   
@inproceedings{fridman2008distributed,
title = {Distributed Path Planning for Connectivity Under Uncertainty by Ant Colony Optimization},
author = {Lex Fridman and Steven Weber and Vijay Kumar and Moshe Kam},
booktitle = {American Control Conference (ACC)},
year = {2008},
month = {jun},
pages = {1952-1958},
}
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