@article { FaIoNa04, title = {Multi Robot Systems: A Classification Focused on Coordination}, journal = {IEEE Transactions on System Man and Cybernetics, part B}, volume = {34}, number = {5}, year = {2004}, note = {New York, (USA), ISSN:1083-4419}, month = {October}, pages = {2015{\textendash}2028}, author = {A. Farinelli and L. Iocchi and D. Nardi} }