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Tightly-coupled multi-agent systems such as modular robots frequently exhibit properties of interest that span multiple modules. These properties cannot easily be detected from any single module, though they might readily be detected by combining the knowledge of multiple modules. Testing for distributed conditions is especially important in debugging or verifying the correctness of software for modular robots. We have developed a technique we call distributed watchpoint triggers which candoi:10.1184/r1/6604928 fatcat:2llwvbas5fd6tk55ysbo4ox56m