@inproceedings{CASE-2009-BermanK,
	author        = "Spring Berman and Vijay Kumar",
	booktitle     = "{Proceedings of the Fifth International Conference on Automation Science and Engineering}",
	doi           = "10.1109/COASE.2009.5234096",
	isbn          = "978-1-4244-4578-3",
	pages         = "25--28",
	publisher     = "{IEEE}",
	title         = "{Abstractions and algorithms for assembly tasks with large numbers of robots and parts}",
	year          = 2009,
}