@Article{SCI:Hen86a,
  author =    "T. Henderson and C.D. Hansen and B. Bhanu",
  title =     "The Specification of Distributed Sensing and
              Control",
  journal =   "Journal of Robotic Systems",
  volume =    "2",
  number =    "4",
  pages =     "387--396",
  year =      "1986",
}