@article { ZiIo10c,
	title = {Petri {N}et {P}lans - {A} framework for collaboration and coordination in multi-robot systems},
	journal = {Autonomous Agents and Multi-Agent Systems},
	volume = {23},
	number = {3},
	year = {2011},
	pages = {344{\textendash}383},
	publisher = {Springer Netherlands},
	doi = {http://dx.doi.org/10.1007/s10458-010-9146-1},
	author = {V. A. Ziparo and L. Iocchi and Pedro Lima and D. Nardi and P. Palamara}
}
@article {ZiIo11PNP,
	title = {Petri Net Plans - {A} framework for collaboration and coordination in multi-robot systems},
	journal = {Autonomous Agents and Multi-Agent Systems},
	volume = {23},
	number = {3},
	year = {2011},
	pages = {344{\textendash}383},
	doi = {10.1007/s10458-010-9146-1},
	url = {http://dx.doi.org/10.1007/s10458-010-9146-1},
	author = {Ziparo, Vittorio A. and Iocchi, Luca and Lima, Pedro U. and Nardi, Daniele and Palamara, Pier F.}
}
@conference { ZiIo10b,
	title = {A Probabilistic Action Duration Model for Plan Selection and Monitoring},
	booktitle = {Proceedings of the International Conference on Intelligent Robots and Systems (IROS)},
	year = {2010},
	pages = {4716{\textendash}4721},
	issn = {2153-0858},
	doi = {10.1109/IROS.2010.5650106},
	author = {V. A. Ziparo and L. Iocchi and M. Leonetti and D. Nardi}
}
@conference { ZipIo08pnp,
	title = {Petri net plans: a formal model for representation and execution of multi-robot plans},
	booktitle = {AAMAS {\textquoteright}08: Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems},
	year = {2008},
	pages = {79{\textendash}86},
	publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
	organization = {International Foundation for Autonomous Agents and Multiagent Systems},
	address = {Richland, SC},
	isbn = {978-0-9817381-0-9},
	author = {V. A. Ziparo and L. Iocchi and D. Nardi and P. F. Palamara and H. Costelha}
}
@conference { ZiIo06,
	title = {Petri Net Plans},
	booktitle = {Proceedings of Fourth International Workshop on Modeling of Objects, Components, and Agents (MOCA)},
	year = {2006},
	note = {Bericht 272, FBI-HH-B-272/06},
	pages = {267{\textendash}290},
	address = {Turku, Finland},
	author = {V. A. Ziparo and L. Iocchi}
}
@conference {ZiIo06,
	title = {Petri Net Plans},
	booktitle = {Proceedings of Fourth International Workshop on Modeling of Objects, Components, and Agents (MOCA)},
	year = {2006},
	note = {Bericht 272, FBI-HH-B-272/06},
	pages = {267{\textendash}290},
	address = {Turku, Finland},
	author = {V. A. Ziparo and L. Iocchi}
}
