@Article{RekleitisAMAI2008b,
  author = 	 {Ioannis Rekleitis and Ai Peng New and Edward Samuel Rankin and Howie Choset},
  title = 	 {Efficient Boustrophedon Multi-Robot Coverage: an algorithmic approach  },
  journal = 	 {Annals of Mathematics and Artificial Intelligence},
  year = 	 2008,
  volume = 	 52,
  number = 	 2-4,
  pages = 	 {109-142},
  month = 	 {April}
}