@Article{Roy00AR,
  author = 	 "Nicholas Roy and Gregory Dudek",
  title = 	 "Collaborative Exploration and Rendezvous: Algorithms,
		  Performance Bounds and Observations",
  journal =	 "Autonomous Robots",
  year =	 "2001",
  volume =	 "11",
  number =	 "2",
  month =	 "Sept.",
  pages =        "117-136"
}