\input zb-basic
\input zb-ioport
\iteman{io-port 50011873}
\itemau{Stergiopoulos, Yiannis (John); Tzes, Anthony}
\itemti{Decentralized swarm coordination: A combined coverage/connectivity approach}
\itemso{Journal of Intelligent and Robotic Systems 64, No. 3-4, 603-623 (2011).}
\itemcc{}
\itemut{}
\itemli{doi:10.1007/s10846-010-9537-1}
\end