{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,19]],"date-time":"2026-01-19T10:06:26Z","timestamp":1768817186400,"version":"3.49.0"},"reference-count":37,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2012,12,27]],"date-time":"2012-12-27T00:00:00Z","timestamp":1356566400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Auton Agent Multi-Agent Syst"],"published-print":{"date-parts":[[2014,1]]},"DOI":"10.1007\/s10458-012-9212-y","type":"journal-article","created":{"date-parts":[[2012,12,26]],"date-time":"2012-12-26T07:36:27Z","timestamp":1356507387000},"page":"101-125","source":"Crossref","is-referenced-by-count":88,"title":["Self-organized task allocation to sequentially interdependent tasks in swarm robotics"],"prefix":"10.1007","volume":"28","author":[{"given":"Arne","family":"Brutschy","sequence":"first","affiliation":[]},{"given":"Giovanni","family":"Pini","sequence":"additional","affiliation":[]},{"given":"Carlo","family":"Pinciroli","sequence":"additional","affiliation":[]},{"given":"Mauro","family":"Birattari","sequence":"additional","affiliation":[]},{"given":"Marco","family":"Dorigo","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2012,12,27]]},"reference":[{"key":"9212_CR1","unstructured":"Agassounon, W., & Martinoli, A. (2002). Efficiency and robustness of threshold-based distributed allocation algorithms in multi-agent systems. Proceedings of the first international joint conference on autonomous agents and multi-agent systems (AAMAS-02) (pp. 1090\u20131097). New York: ACM Press."},{"issue":"5","key":"9212_CR2","doi-asserted-by":"crossref","first-page":"521","DOI":"10.1086\/303255","volume":"154","author":"C Anderson","year":"1999","unstructured":"Anderson, C., & Ratnieks, F. L. W. (1999a). Task partitioning in insect societies. I: Effect of colony size on queueing delay and colony ergonomic efficiency. The American Naturalist, 154(5), 521\u2013535.","journal-title":"The American Naturalist"},{"issue":"5","key":"9212_CR3","doi-asserted-by":"crossref","first-page":"536","DOI":"10.1086\/303255","volume":"154","author":"C Anderson","year":"1999","unstructured":"Anderson, C., & Ratnieks, F. L. W. (1999b). Task partitioning in insect societies. II: Use of queueing delay information in recruitment. The American Naturalist, 154(5), 536\u2013548.","journal-title":"The American Naturalist"},{"issue":"2","key":"9212_CR4","doi-asserted-by":"crossref","first-page":"198","DOI":"10.1007\/PL00001702","volume":"47","author":"C Anderson","year":"2000","unstructured":"Anderson, C., & Ratnieks, F. L. W. (2000). Task partitioning in insect societies: Novel situations. Insectes Sociaux, 47(2), 198\u2013199.","journal-title":"Insectes Sociaux"},{"key":"9212_CR5","doi-asserted-by":"crossref","first-page":"927","DOI":"10.1109\/TRO.2009.2024997","volume":"25","author":"S Berman","year":"2009","unstructured":"Berman, S., Halasz, A., Hsieh, M. A., & Kumar, V. (2009). Optimized stochastic policies for task allocation in swarms of robots. IEEE Transactions on Robotics, 25, 927\u2013937.","journal-title":"IEEE Transactions on Robotics"},{"key":"9212_CR6","doi-asserted-by":"crossref","DOI":"10.1093\/oso\/9780195131581.001.0001","volume-title":"Swarm intelligence: From natural to artificial systems","author":"E Bonabeau","year":"1999","unstructured":"Bonabeau, E., Dorigo, M., & Theraulaz, G. (1999). Swarm intelligence: From natural to artificial systems. New York: Oxford University Press."},{"key":"9212_CR7","unstructured":"Brutschy, A., Pini, G., Pinciroli, C., Birattari, M., & Dorigo, M. (2011). Self-organized task allocation to sequentially interdependent tasks in swarm robotics\u2014Online supplementary material. http:\/\/iridia.ulb.ac.be\/supp\/IridiaSupp2011-002\/ ."},{"key":"9212_CR8","unstructured":"Campo, A., & Dorigo, M. (2007). Efficient multi-foraging in swarm robotics. In M. Capcarrere, A. A. Freitas, P. J. Bentley, C. G. Johnson, & J. Timmis (Eds.), Advances in artificial life: Proceedings of the VIIIth European conference on artificial life (ECAL 2005) (Vol. 4648, pp. 696\u2013705). Berlin: Springer."},{"issue":"6","key":"9212_CR9","first-page":"732","volume":"11","author":"AL Christensen","year":"2007","unstructured":"Christensen, A. L., O\u2019Grady, R., & Dorigo, M. (2007). Morphology control in a multirobot system. IEEE Robotics and Automation Magazine, 11(6), 732\u2013742.","journal-title":"IEEE Robotics and Automation Magazine"},{"issue":"3","key":"9212_CR10","doi-asserted-by":"crossref","first-page":"237","DOI":"10.1023\/B:AGNT.0000018807.12771.60","volume":"8","author":"VA Cicirello","year":"2004","unstructured":"Cicirello, V. A., & Smith, S. F. (2004). Wasp-like agents for distributed factory coordination. Autonomous Agents and Multi-Agent Systems, 8(3), 237\u2013266.","journal-title":"Autonomous Agents and Multi-Agent Systems"},{"key":"9212_CR11","doi-asserted-by":"crossref","first-page":"674","DOI":"10.1016\/j.robot.2008.12.001","volume":"57","author":"TS Dahl","year":"2009","unstructured":"Dahl, T. S., Matari\u0107, M. J., & Sukhat, G. S. (2009). Multi-robot task allocation through vacancy chain scheduling. Robotics and Autonomous Systems, 57, 674\u2013687.","journal-title":"Robotics and Autonomous Systems"},{"key":"9212_CR12","unstructured":"Dasgupta, P. (2011). Multi-robot task allocation for performing cooperative foraging tasks in an initially unknown environment. In L. C. Jain, E. V. Aidman, & C. Abeynayake (Eds.), Innovations in defence support systems 2. Studies in computational intelligence (Vol. 338, pp. 5\u201320). Berlin: Springer."},{"key":"9212_CR13","doi-asserted-by":"crossref","first-page":"1257","DOI":"10.1109\/JPROC.2006.876939","volume":"94","author":"MB Dias","year":"2006","unstructured":"Dias, M. B., Zlot, R., Kalra, N., & Stentz, A. (2006). Market-based multirobot coordination: A survey and analysis. Proceedings of the IEEE, 94, 1257\u20131270.","journal-title":"Proceedings of the IEEE"},{"key":"9212_CR14","first-page":"192","volume-title":"2005 IEEE swarm intelligence symposium (SIS-05)","author":"M Dorigo","year":"2005","unstructured":"Dorigo, M. (2005). SWARM-BOT: An experiment in swarm robotics. In P. Arabshahi & A. Martinoli (Eds.), 2005 IEEE swarm intelligence symposium (SIS-05) (pp. 192\u2013200). Piscataway, NJ: IEEE Press."},{"key":"9212_CR15","doi-asserted-by":"crossref","unstructured":"Dorigo, M., Floreano, D., Gambardella, L. M., Mondada, F., Nolfi, S., Baaboura, T., et al. (2013). Swarmanoid: A novel concept for the study of heterogeneous robotic swarms. IEEE Robotics and Automation Magazine (in press).","DOI":"10.1109\/MRA.2013.2252996"},{"issue":"2\u20133","key":"9212_CR16","doi-asserted-by":"crossref","first-page":"223","DOI":"10.1023\/B:AURO.0000033973.24945.f3","volume":"17","author":"M Dorigo","year":"2004","unstructured":"Dorigo, M., Trianni, V., \u015eahin, E., Gro\u00df, R., Labella, T. H., Baldassarre, G., et al. (2004). Evolving self-organizing behaviors for a swarm-bot. Autonomous Robots, 17(2\u20133), 223\u2013245.","journal-title":"Autonomous Robots"},{"key":"9212_CR17","unstructured":"Ferreira, P. R., Boffo, F. S., & Bazzan, A. L. C. (2008). Using Swarm-GAP for distributed task allocation in complex scenarios. In N. Jamali, P. Scerri, & T. Sugawara (Eds.), Massively multi-agent technology. LNCS (Vol. 5043, pp. 107\u2013121). Berlin: Springer."},{"issue":"3","key":"9212_CR18","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1111\/j.1365-2311.1979.tb00581.x","volume":"4","author":"HH Fowler","year":"1979","unstructured":"Fowler, H. H., & Robinson, S. W. (1979). Foraging by Atta sexdens (Formicidae: Attini): Seasonal patterns, caste and efficiency. Ecological Entomology, 4(3), 239\u2013247.","journal-title":"Ecological Entomology"},{"key":"9212_CR19","unstructured":"Gerkey, B. P., & Matari\u0107, M. J. (2003). Multi-robot task allocation: Analyzing the complexity and optimality of key architectures. In Proceedings of the IEEE international conference on robotics and automation (ICRA 2003) (pp. 3862\u20133867). Pitscataway, NJ: IEEE Press."},{"issue":"9","key":"9212_CR20","doi-asserted-by":"crossref","first-page":"939","DOI":"10.1177\/0278364904045564","volume":"23","author":"BP Gerkey","year":"2004","unstructured":"Gerkey, B. P., & Matari\u0107, M. J. (2004). A formal analysis and taxonomy of task allocation in multi-robot systems. The International Journal of Robotics Research, 23(9), 939\u2013954.","journal-title":"The International Journal of Robotics Research"},{"key":"9212_CR21","unstructured":"Goldberg, D., Cicirello, V., Dias, M. B., Simmons, R., Smith, S., & Stentz, A. (2003). Task allocation using a distributed market-based planning mechanism. In Proceedings of the second international joint conference on autonomous agents and multiagent systems (pp. 996\u2013997). New York, NY: ACM Press."},{"issue":"6","key":"9212_CR22","doi-asserted-by":"crossref","first-page":"1115","DOI":"10.1109\/TRO.2006.882919","volume":"22","author":"R Gro\u00df","year":"2006","unstructured":"Gro\u00df, R., Bonani, M., Mondada, F., & Dorigo, M. (2006). Autonomous self-assembly in swarm-bots. IEEE Transactions on Robotics, 22(6), 1115\u20131130.","journal-title":"IEEE Transactions on Robotics"},{"issue":"4","key":"9212_CR23","doi-asserted-by":"crossref","first-page":"514","DOI":"10.20965\/jrm.2010.p0514","volume":"22","author":"Y Ikemoto","year":"2010","unstructured":"Ikemoto, Y., Miura, T., & Asama, H. (2010). Adaptive division-of-labor control algorithm for multi-robot systems. Journal of Robotics and Mechatronics, 22(4), 514\u2013525.","journal-title":"Journal of Robotics and Mechatronics"},{"key":"9212_CR24","unstructured":"Kalra, N., & Martinoli, A. (2006). A comparative study of market-based and threshold-based task allocation. In Distributed autonomous robotic systems 7 (pp. 91\u2013102). Berlin: Springer."},{"key":"9212_CR25","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1016\/S0921-8890(99)00065-2","volume":"30","author":"MJB Krieger","year":"2000","unstructured":"Krieger, M. J. B., & Billeter, J.-B. (2000). The call of duty: Self-organised task allocation in a population of up to twelve mobile robots. Journal of Robotics and Autonomous Systems, 30, 65\u201384.","journal-title":"Journal of Robotics and Autonomous Systems"},{"issue":"1","key":"9212_CR26","doi-asserted-by":"crossref","first-page":"4","DOI":"10.1145\/1152934.1152936","volume":"1","author":"TH Labella","year":"2006","unstructured":"Labella, T. H., Dorigo, M., & Deneubourg, J.-L. (2006). Division of labor in a group of robots inspired by ants\u2019 foraging behavior. ACM Transactions on Autonomous and Adaptive Systems, 1(1), 4\u201325.","journal-title":"ACM Transactions on Autonomous and Adaptive Systems"},{"issue":"3","key":"9212_CR27","doi-asserted-by":"crossref","first-page":"289","DOI":"10.1177\/1059712307082088","volume":"15","author":"W Liu","year":"2007","unstructured":"Liu, W., Winfield, A., Sa, J., Chen, J., & Dou, L. (2007). Towards energy optimization: Emergent task allocation in a swarm of foraging robots. Adaptive Behavior, 15(3), 289\u2013305.","journal-title":"Adaptive Behavior"},{"issue":"2\u20133","key":"9212_CR28","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1023\/B:AURO.0000033972.50769.1c","volume":"17","author":"F Mondada","year":"2004","unstructured":"Mondada, F., Pettinaro, G. C., Guignard, A., Kwee, I. V., Floreano, D., Deneubourg, J.-L., et al. (2004). SWARM-BOT: A new distributed robotic concept. Autonomous Robots, 17(2\u20133), 193\u2013221.","journal-title":"Autonomous Robots"},{"issue":"1","key":"9212_CR29","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s11721-007-0009-6","volume":"2","author":"S Nouyan","year":"2008","unstructured":"Nouyan, S., Campo, A., & Dorigo, M. (2008). Path formation in a robot swarm. Self-organized strategies to find your way home. Swarm Intelligence, 2(1), 1\u201323.","journal-title":"Swarm Intelligence"},{"issue":"4","key":"9212_CR30","doi-asserted-by":"crossref","first-page":"695","DOI":"10.1109\/TEVC.2008.2011746","volume":"13","author":"S Nouyan","year":"2009","unstructured":"Nouyan, S., Gro\u00df, R., Bonani, M., Mondada, F., & Dorigo, M. (2009). Teamwork in self-organized robot colonies. IEEE Transactions on Evolutionary Computation, 13(4), 695\u2013711.","journal-title":"IEEE Transactions on Evolutionary Computation"},{"key":"9212_CR31","doi-asserted-by":"crossref","unstructured":"Pinciroli, C., Trianni, V., O\u2019Grady, R., Pini, G., Brutschy, A., Brambilla, M., et al. (2011a). ARGoS: A modular, multi-engine simulator for heterogeneous swarm robotics. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 2011) (pp. 5027\u20135034). Los Alamitos, CA: IEEE Computer Society Press.","DOI":"10.1109\/IROS.2011.6048500"},{"key":"9212_CR32","doi-asserted-by":"crossref","unstructured":"Pinciroli, C., Trianni, V., O\u2019Grady, R., Pini, G., Brutschy, A., Brambilla, M., et al. (2012). ARGoS: A modular, parallel, multi-engine simulator for multi-robot systems. Swarm intelligence, 6(4), 271\u2013295.","DOI":"10.1007\/s11721-012-0072-5"},{"key":"9212_CR33","doi-asserted-by":"crossref","unstructured":"Pini, G., Brutschy, A., Birattari, M., & Dorigo, M. (2011a). Task partitioning in swarms of robots: Reducing performance losses due to interference at shared resources. In J.-L. Ferrier & J. Filipe (Eds.), Informatics in control, automation and robotics: Selected papers from the international conference on informatics in control, automation and robotics 2009. LNEE (Vol. 85). Berlin: Springer.","DOI":"10.1007\/978-3-642-19730-7_15"},{"issue":"3\u20134","key":"9212_CR34","doi-asserted-by":"crossref","first-page":"283","DOI":"10.1007\/s11721-011-0060-1","volume":"5","author":"G Pini","year":"2011","unstructured":"Pini, G., Brutschy, A., Frison, M., Roli, A., Dorigo, M., & Birattari, M. (2011b). Task partitioning in swarms of robots: An adaptive method for strategy selection. Swarm Intelligence, 5(3\u20134), 283\u2013304.","journal-title":"Swarm Intelligence"},{"issue":"2","key":"9212_CR35","doi-asserted-by":"crossref","first-page":"95","DOI":"10.1007\/s000400050119","volume":"46","author":"FLW Ratnieks","year":"1999","unstructured":"Ratnieks, F. L. W., & Anderson, C. (1999). Task partitioning in insect societies. Insectes Sociaux, 46(2), 95\u2013108.","journal-title":"Insectes Sociaux"},{"issue":"2","key":"9212_CR36","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1007\/s12064-008-0033-0","volume":"127","author":"A Scheidler","year":"2008","unstructured":"Scheidler, A., Merkle, D., & Middendorf, M. (2008). Stability and performance of ant queue inspired task partitioning methods. Theory in Biosciences, 127(2), 149\u2013161.","journal-title":"Theory in Biosciences"},{"issue":"1393","key":"9212_CR37","first-page":"327","volume":"265","author":"G Theraulaz","year":"1998","unstructured":"Theraulaz, G., Bonabeau, E., & Deneubourg, J.-L. (1998). Response threshold reinforcement and division of labour in insect societies. Proceedings: Biological Sciences, 265(1393), 327\u2013332.","journal-title":"Proceedings: Biological Sciences"}],"container-title":["Autonomous Agents and Multi-Agent Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10458-012-9212-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10458-012-9212-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10458-012-9212-y","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,2,4]],"date-time":"2022-02-04T16:29:15Z","timestamp":1643992155000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10458-012-9212-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,12,27]]},"references-count":37,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2014,1]]}},"alternative-id":["9212"],"URL":"https:\/\/doi.org\/10.1007\/s10458-012-9212-y","relation":{},"ISSN":["1387-2532","1573-7454"],"issn-type":[{"value":"1387-2532","type":"print"},{"value":"1573-7454","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,12,27]]}}}