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A. Howard, M. Mataric and G. Sukhatme, “Mobile Sensor Network Deployment Using Potential Fields: A Distri- buted, Scalable Solution to the Areacoverage Problem,” Proceedings of 6th International Symposium on Distri- buted Autonomous Robotic Systems, Fukuoka, Vol. 5, 25- 27 June 2002, pp. 299-308.

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