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A. Howard, M. J. Mataric, and G. S. Sukhatme, “Mobile Sensor Network Deployment using Potential Fields: A Distributed, Scalable Solution to the Area Coverage Problem,” Proceedings of 6th International Symposium on Distributed Autonomous Robotics Systems, Fukuoka, 25-27 June 2002, pp. 299-308.
http://dx.doi.org/10.1007/978-4-431-65941-9_30

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