@article{Falcon2011:CBCA-IEEETAC,
author = {Rafael Falcon and Xu Li and Amiya Nayak},
title = {{Carrier-Based Focused Coverage Formation in Wireless Sensor and Robot Networks}},
journal = {IEEE Transactions on Automatic Control},
year={2011},
month={October},
volume={56},
number={10},
pages={2406-2417},
doi={10.1109/TAC.2011.2163989},
ISSN={0018-9286}
}