Decentralized coordination enhanced by centralized information: multiple AGVs in industrial application. Digani, V.; Sabattini, L.; Secchi, C.; and Fantuzzi, C.
bibtex   
@article{diganidecentralized,
  title={Decentralized coordination enhanced by centralized information: multiple AGVs in industrial application},
  author={Digani, Valerio and Sabattini, Lorenzo and Secchi, Cristian and Fantuzzi, Cesare}
}
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