@article{erdem2013finding,
  title={Finding optimal plans for multiple teams of robots through a mediator: A logic-based approach},
  author={Erdem, Esra and Patoglu, Volkan and Saribatur, Zeynep G and Sch{\"u}ller, Peter and Uras, Tansel},
  journal={Theory and Practice of Logic Programming},
  volume={13},
  number={4-5},
  pages={831--846},
  year={2013},
  publisher={Cambridge University Press}
}

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