Distributed on-line dynamic task assignment for multi-robot patrolling. Farinelli, A., Iocchi, L., & Nardi, D. AUTONOMOUS ROBOTS, 41(6):1321–1345, 2017.
doi  bibtex   
@article{
	11562_967349,
	author = {Farinelli, Alessandro and Iocchi, Luca and Nardi, Daniele},
	title = {Distributed on-line dynamic task assignment for multi-robot patrolling},
	year = {2017},
	journal = {AUTONOMOUS ROBOTS},
	volume = {41},
	doi = {10.1007/s10514-016-9579-8},
	pages = {1321--1345},
	number = {6}
}

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