MacAlpine, Patrick, Eric Price, and Peter Stone. “SCRAM: Scalable Collision-Avoiding Role Assignment With Minimal-Makespan for Formational Positioning”. Proceedings of the AAAI Conference on Artificial Intelligence 29, no. 1 (February 18, 2015). Accessed April 18, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/9424.