This is the most comprehensive paper on the MinDART project. It is a revision of an older Technical Report 03-011, Department of Computer Science and Engineering, University of Minnesota, MN, February 2003.
The paper describes the MinDART hardware, and present results of experiments with the MinDART robots. The first set of experiments tested efficacy of localization capabilities, effects of team size and of target distribution. The second set tested the efficacy of simple communication. We found that more complex control strategies do not necessarily improve task completion times, but can reduce variance in performance measures.

The paper explores the effects of different simple communications strategies on performance of robot teams doing foraging.

The paper analyzes how the team's performance is affected by the target distribution (uniform or clumped), the size of the team (1, 2, or 4 robots), and whether search with explicit localization improves task completion time over random search.

This is earlier work. We show how the performance is affected by the number of robots, the distribution of the targets the robots are searching for, and the complexity of the environment.