Multirobot systems: A classification focused on coordination. Farinelli, A., Iocchi, L., & Nardi, D. IEEE Transactions on Systems, Man, and Cybernetics, 2004.
bibtex   
@article{Farinelli2004,
  added-at = {2020-05-24T20:36:48.000+0200},
  author = {Farinelli, Alessandro and Iocchi, Luca and Nardi, Daniele},
  biburl = {https://www.bibsonomy.org/bibtex/249d4ffff600ab13294117a05822bb512/marcondg},
  interhash = {ff657438324162a6532f0e1c10f14e26},
  intrahash = {49d4ffff600ab13294117a05822bb512},
  journal = {{IEEE} Transactions on Systems, Man, and Cybernetics},
  keywords = {survey},
  number = 5,
  pages = {2015--2028},
  timestamp = {2020-05-24T20:36:48.000+0200},
  title = {{Multirobot systems: A classification focused on coordination}},
  year = 2004
}

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