Analysis of Dynamic Task Allocation in Multi-Robot Systems. Lerman, K., Jones, C. V., Galstyan, A., & Matarić, M. J. International Journal of Robotics Research, 25(3):225–242, 2006.
bibtex   
@article{lerman_analysis_2006,
	title = {Analysis of {Dynamic} {Task} {Allocation} in {Multi}-{Robot} {Systems}},
	volume = {25},
	number = {3},
	journal = {International Journal of Robotics Research},
	author = {Lerman, Kristina and Jones, Chris V. and Galstyan, Aram and Matarić, Maja J.},
	year = {2006},
	keywords = {multi-agent-systems},
	pages = {225--242},
}

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