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N.  Ayanian and Kumar, V., ?Abstractions and Controllers for Groups of Robots in Environments with Obstacles?, in IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010, pp. 3537 - 3542.\par \par N.  Ayanian and Kumar, \'a0V., ?Decentralized feedback controllers for multi-agent teams in environments with obstacles?, in IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008, pp. 1936-1941.\par \par }