title = {Distributed Path Planning for Connectivity Under Uncertainty by Ant Colony Optimization},
  booktitle = {Proceedings of the American Control Conference},
  year = {2008},
  month = jun,
  pages = {1952 {\textendash}1958},
  keywords = {ant colony optimization, collision avoidance, communicating agents, computational resources, distributed path planning, environment-dependent communication failure, kinematic restrictions, multi-agent systems, multi-robot systems, multiobjective problem, network resources, network topologies, obstacle avoidance, optimisation, robot kinematics},
  author = {Fridman, Lex and Weber, Steven and Kumar, Vijay and Kam, Moshe}