@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}
}
