@article {Tews:25 July 2000:0169-1864:37,
	author = "Tews, Ashley",
	author = "Wyeth, Gordon",
	title = "MAPS: a system for multi-agent coordination",
	journal = "Advanced Robotics",
	volume = "14",
	year = "25 July 2000",
	abstract = "MAPS (Multi-Agent Planning System) is a system for multi-agent coordination that has been developed in the robot soccer domain. It uses potential fields to model the environment and provide directives for the robots. The key feature that enables successful coordination is the use of a shared world model. This paper describes MAPS and demonstrates it as a viable coordination system for use in multiple robot domains.",
	pages = "37-50(14)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2000/00000014/00000001/art00004"
	doi = "doi:10.1163/156855300741429"
}