@article {deshpande2009methodology,
	title = {A methodology for design and analysis of cooperative behaviors with mobile robots},
	journal = {Autonomous Robots},
	volume = {27},
	number = {3},
	year = {2009},
	pages = {261{\textendash}276},
	publisher = {Springer},
	author = {Deshpande, Ashish D. and Luntz, Jonathan E.}
}
