@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.}
}
