@conference {riccio15multi, title = {Multi Robot Perception and Action: World Modeling and Task Allocation}, booktitle = {RSS Workshop on Principle of multi-robot systems}, year = {2015}, url = {http://www.dis.uniroma1.it/~gemignani/documents/papers/15_rss_mrs_survey.pdf}, author = {Riccio, Francesco and L{\'a}zaro, Maria T. and Gemignani, Guglielmo and Nardi, Daniele} }