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Biggs, James; (2011) Optimal path planning for nonholonomic robotics systems via parametric optimisation. In: Lecture Notes in Computer Science. Springer, GBR. ISBN 978-3-642-23231-2
Punzo, Giuliano and Bennet, Derek James and Macdonald, Malcolm; (2011) Enhancing self-similar patterns by asymmetric artificial potential functions in partially connected swarms. In: Towards Autonomous Robotic Systems. Lecture Notes in Artificial Intelligence, 6856 (1st). Institution of Engineering and Technology, GBR. ISBN 978-3-642-23231-2
Punzo, Giuliano and Bennet, Derek James and Macdonald, Malcolm; (2010) Swarm shape manipulation through connection control. In: Towards Autonomous Robotis Systems. Lecture Notes in Artificial Intelligence, 6856 (1). Springer, GBR. ISBN 978-3-642-23231-2