Nag S, Hoffman JA, de Weck O. SPHERES Zero Robotics software development: Lessons on
crowdsourcing and collaborative competition and STEM education using SPHERES Zero
Robotics. Massachusetts Institute of Technology. 2012.
Saenz-Otero A, Katz J, Mwijuka AT. The Zero Robotics SPHERES Challenge 2010. IEEE Aerospace
and Electronic Systems Magazine. 2011;26(7):4-17. doi: 10.1109/MAES.2011.595 8758.
This investigation is ongoing and additional results are pending publication.