@inproceedings{dantu-sensys12,
 author = {Dantu, Karthik and Kate, Bryan and Waterman, Jason and Bailis, Peter and Welsh, Matt},
 title = {Programming micro-aerial vehicle swarms with karma},
 booktitle = {Proceedings of the 9th ACM Conference on Embedded Networked Sensor Systems},
 series = {SenSys '11},
 year = {2011},
 isbn = {978-1-4503-0718-5},
 location = {Seattle, Washington},
 pages = {121--134},
 numpages = {14},
 url = {http://doi.acm.org/10.1145/2070942.2070956},
 doi = {10.1145/2070942.2070956},
 acmid = {2070956},
 publisher = {ACM},
 address = {New York, NY, USA},
 keywords = {micro-aerial vehicle, mobile sensor network, swarm},
}