Socially-Mediated Negotiation for Obstacle Avoidance in Collective Transport. Ferrante, E., Brambilla, M., Birattari, M., & Dorigo, M. In International Symposium on Distributed Autonomous Robotics Systems (DARS-2010), volume 83, of Springer Tracts in Advanced Robotics, pages 571–583. Springer, Berlin, Heidelberg, 2013.
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