Analysis of Dynamic Task Allocation in Multi-Robot Systems. Lerman, K., Jones, C. V., Galstyan, A., & Mataric, M. J. Int. J. Robotics Res., 25(3):225–241, 2006.
Analysis of Dynamic Task Allocation in Multi-Robot Systems [link]Paper  doi  bibtex   
@article{DBLP:journals/ijrr/LermanJGM06,
  author       = {Kristina Lerman and
                  Chris V. Jones and
                  Aram Galstyan and
                  Maja J. Mataric},
  title        = {Analysis of Dynamic Task Allocation in Multi-Robot Systems},
  journal      = {Int. J. Robotics Res.},
  volume       = {25},
  number       = {3},
  pages        = {225--241},
  year         = {2006},
  url          = {https://doi.org/10.1177/0278364906063426},
  doi          = {10.1177/0278364906063426},
  timestamp    = {Thu, 17 Sep 2020 01:00:00 +0200},
  biburl       = {https://dblp.org/rec/journals/ijrr/LermanJGM06.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

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