Finding Optimal Plans for Multiple Teams of Robots through a Mediator: A Logic-Based Approach. Erdem, E., Patoglu, V., Saribatur, Z. G., Schueller, P., & Uras, T. Theory and Practice of Logic Programming, 13(4–5):831–846, 2013.
bibtex   
@Article{Erdemj2,
	author = {Esra Erdem and Volkan Patoglu and Zeynep Gozen Saribatur and Peter Schueller and Tansel Uras},
	journal = {Theory and Practice of Logic Programming},
	year = {2013},
	title = {{Finding Optimal Plans for Multiple Teams of Robots through a Mediator: A Logic-Based Approach}},
	volume = {13},
	number = {4--5},
    pages = {831--846},
}

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