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Source: http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=1668250

'Multi-robot coalition formation', L Vig and J A Adams, Electr. Eng. & Comput. Sci., Vanderbilt Univ., Nashville, TN, USA. This paper appears in: Robotics, IEEE Transactions, Vol 22, Issue 4, Aug. 2006, pp. 637- 649.