Macroscopic Analysis of Adaptive Task Allocation in Robots. Lerman, K. & Galstyan, A. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS-2003), Las Vegas, NV, pages 1951–1956, oct, 2003.
bibtex   
@InProceedings{Lerman03iros,
  author =       "Kristina Lerman and Aram Galstyan",
  title =        "{Macroscopic Analysis of Adaptive Task Allocation in Robots}",
  month={oct},
  year =         "2003",
  booktitle =    "Proceedings of the IEEE International Conference on Intelligent Robots and Systems ({IROS}-2003), Las Vegas, NV",
  pages =        "1951--1956",
  keywords =    {multi-agent-systems},
}

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