@inproceedings{barlow2004-icra,
	author = {Gregory J. Barlow and Thomas C. Henderson and Andrew L. Nelson and Edward Grant},
	title = {Dynamic Leadership Protocol for S-nets},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	pages = {1091--1096},
	month = {April},
	year = {2004},
	address = {New Orleans, LA},
	url = {http://www.cs.cmu.edu/~gjb/includes/publications/conference/barlow2004-icra/barlow2004-icra.pdf}
}