Analysis of dynamic task allocation in multi-robot systems. Lerman, K., Jones, C., Galstyan, A., & Matarić, M. J The International Journal of Robotics Research, 25(3):225–241, SAGE Publications, 2006.
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@article{lerman2006analysis,
  title={Analysis of dynamic task allocation in multi-robot systems},
  author={Lerman, Kristina and Jones, Chris and Galstyan, Aram and Matari{\'c}, Maja J},
  journal={The International Journal of Robotics Research},
  volume={25},
  number={3},
  pages={225--241},
  year={2006},
  publisher={SAGE Publications}
}

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