Abukhalil, T., Patil, M., Patel, S., & Sobh, T. (2016, April). “Coordinating a heterogeneous robot swarm using Robot Utility-based Task Assignment (RUTA)”. In 2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) (pp. 57-62). IEEE. Patil, Madhav, Tamer Abukhalil, Sarosh Patel, and Tarek Sobh. "UB robot swarm—Design, implementation, and power management." In 2016 12th IEEE International Conference on Control and Automation (ICCA), pp. 577-582. IEEE, 2016.