@conference {gemignani15multi, title = {Multi-Robot Task Acquisition through Sparse Coordination}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2015}, pages = {2823{\textendash}2828}, doi = {10.1109/IROS.2015.7353765}, url = {http://www.dis.uniroma1.it/~gemignani/documents/papers/15-iros.pdf}, author = {Klee, Steven D. and Gemignani, Guglielmo and Veloso, Manuela and Nardi, Daniele} }