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Distributed multirobot exploration, mapping, and task allocation Vincent, Régis., Fox, Dieter., Ko, Jonathan., Konolige, Kurt., Limketkai, Benson., Morisset, Benoit., Ortiz, Charles., Schulz, Dirk., and Stewart, Benjamin Ann. Math. Artif. Intell., Volume 52, Number 2-4, p.229-255, (2008)