@article {Fari-Iocc-06, title = {Assignment of Dynamically Perceived Tasks by Token Passing in Multi-Robot Systems}, journal = {Proceedings of the IEEE, Special issue on Multi-Robot Systems}, volume = {94}, number = {7}, year = {2006}, note = {ISSN:0018-9219}, pages = {1271{\textendash}1288}, author = {Alessandro Farinelli and Luca Iocchi and Daniele Nardi and Vittorio A. Ziparo} }