?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=Claudio&rft.au=Rossi%2C+Claudio&rft.aulast=Rossi&rft.isbn=978-1-4244-2788-8&rft.btitle=2009+IEEE+International+Conference+on+Robotics+and+Automation%2C+ICRA+2009&rft.date=July+2009&rft.title=Simultaneous+Task+Subdivision+and+Allocation+for+Teams+of+Heterogeneous+Robots&rft.genre=proceeding