Hajime Asama, Tamio Arai, Toshio Fukuda, Tsutomu Hasegawa: Distributed Autonomous Robotic Systems 5, Proceedings of the 6th International Symposium on Distributed Autonomous Robotic Systems, DARS 2002, Fukuoka, Japan, June 25-27, 2002. Springer 2002, ISBN 978-4-431-65943-3