@inproceedings{upm5425,
       publisher = {IEEE},
       booktitle = {2009 IEEE International Conference on Robotics and Automation, ICRA 2009},
            year = {2009},
         address = {New Jersey, EEUU},
           month = {July},
           title = {Simultaneous Task Subdivision and Allocation for Teams of Heterogeneous Robots},
            isbn = {978-1-4244-2788-8},
             url = {http://ieeexplore.ieee.org/xpl/freeabs\%5fall.jsp?arnumber=5152299&con=yes&userType=inst},
          author = {Rossi, Claudio and Aldama Perez, Leyre and Barrientos Cruz, Antonio},
        abstract = {In this paper, we present a negotiation protocol for simultaneous task subdivision and allocation for heterogeneous multi-robot systems. An abstraction of the concept of task is presented that allows to apply the protocol on a variety of tasks. The negotiation adopts Rubinstein's alternate offers protocol, where offers are evaluated and generated using a heuristic search step. The protocol has been tested on computer simulations.}
}