Rossi, Claudio and Aldama Perez, Leyre and Barrientos Cruz, Antonio (2009). Simultaneous Task Subdivision and Allocation for Teams of Heterogeneous Robots. In: "Proceedings of 2009 IEEE International Conference on Robotics and Automation, ICRA 2009", 12/05/2009 - 17/05/2009, Kobe, Japón. ISBN 978-1-4244-2788-8.