• On the Structural Complexity of Multi-Agent Robot Formations. 

      Muhammad, Abubakr; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics EngineersAmerican Automatic Control Council, 2004-06)
      We present a complexity measure for studying the structural complexity of multi-agent robot formations. We base this measure on the total information flow in the system, which is due to sensory perception and communication ...