{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,19]],"date-time":"2026-06-19T15:48:03Z","timestamp":1781884083014,"version":"3.54.5"},"reference-count":45,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2003,9,1]],"date-time":"2003-09-01T00:00:00Z","timestamp":1062374400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2003,9,1]],"date-time":"2003-09-01T00:00:00Z","timestamp":1062374400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Autonomous Robots"],"published-print":{"date-parts":[[2003,9]]},"DOI":"10.1023\/a:1025589008533","type":"journal-article","created":{"date-parts":[[2003,9,23]],"date-time":"2003-09-23T22:26:26Z","timestamp":1064355986000},"page":"155-168","source":"Crossref","is-referenced-by-count":55,"title":["Distributed Coordination in Heterogeneous Multi-Robot Systems"],"prefix":"10.1007","volume":"15","author":[{"given":"Luca","family":"Iocchi","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniele","family":"Nardi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Maurizio","family":"Piaggio","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Antonio","family":"Sgorbissa","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","reference":[{"key":"5141883_CR1","unstructured":"Acar, E., Zhang, Y., Choset, H., Schervish, M., Costa, A.G., Melamud, R., Lean, D., and Graveline, A. 2001. Path planning for robotic demining and development of a test platform, In Field and Service Robotics."},{"key":"5141883_CR2","doi-asserted-by":"crossref","first-page":"150","DOI":"10.1117\/12.369250","volume":"XIV","author":"R. Arkin","year":"1999","unstructured":"Arkin, R., Collins, T., and Endo, T. 1999. Tactical mobile robot mission specification and execution, In Mobile Robots XIV, Boston, USA, pp. 150\u2013163.","journal-title":"Mobile Robots"},{"key":"5141883_CR3","doi-asserted-by":"crossref","unstructured":"Balch, T. 1999. The impact of diversity on performance in multirobot foraging, In Proc. of Agents'99.","DOI":"10.1145\/301136.301170"},{"key":"5141883_CR4","unstructured":"Balch, T. 2000. Hierarchic social entropy: An information theoretic measure of robot team diversity. Autonomous Robots, 8(3)."},{"issue":"1","key":"5141883_CR5","doi-asserted-by":"crossref","first-page":"27","DOI":"10.1007\/BF00735341","volume":"1","author":"T. Balch","year":"1995","unstructured":"Balch, T. and Arkin, R.C. 1995. Communication in reactive multiagent robotic systems. Autonomous Robots, 1(1):27\u201352.","journal-title":"Autonomous Robots"},{"key":"5141883_CR6","doi-asserted-by":"crossref","unstructured":"Balch, T. and Arkin, R.C. 1998. Behavior-based formation control for multi-robot teams. IEEE Transactions on Robotics and Automation, 14(6).","DOI":"10.1109\/70.736776"},{"key":"5141883_CR7","doi-asserted-by":"crossref","unstructured":"Balch, T. and Parker, L.E. (Eds.). 2002. Robot Teams: From Diversity to Polymorphism, A K Peters Ltd.","DOI":"10.1201\/9781439863671"},{"key":"5141883_CR8","doi-asserted-by":"crossref","first-page":"116","DOI":"10.1117\/12.369247","volume":"XIV","author":"J. Blitch","year":"1999","unstructured":"Blitch, J. 1999. Tactical mobile robots for complex urban environments. In Mobile Robots XIV, Boston, USA, pp. 116\u2013128.","journal-title":"Mobile Robots"},{"key":"5141883_CR9","doi-asserted-by":"crossref","unstructured":"Brendenfeld, A. and Kobialka, H.U. 2000. Team cooperation using dual dynamics. In Proc. of ECAI2000 Workshop on Balancing Reactivity and Social Deliberation in Multi-Agent Systems.","DOI":"10.1007\/3-540-44568-4_7"},{"key":"5141883_CR10","doi-asserted-by":"crossref","unstructured":"Brooks, R., Maes, P., Mataric, M., and More, G. 1990. Lunar base construction robots. In IEEE International Workshop on Intelligent Robots and Systems, Tsuchiura, Japan, pp. 389\u2013392.","DOI":"10.1109\/IROS.1990.262415"},{"key":"5141883_CR11","first-page":"1","volume":"4","author":"Y.U. Cao","year":"1997","unstructured":"Cao, Y.U., Fukunaga, A., and Kahng, A. 1997. Cooperative mobile robotics: Antecedents and directions. Autonomous Robots, 4:1\u201323.","journal-title":"Autonomous Robots"},{"key":"5141883_CR12","unstructured":"Carpin, S., Ferrari, C., Montesello, F., Pagello, E., and Patuelli, P. 2000. Scalable deliberative procedures for efficient multi-robot coordination. In Proc. of ECAI2000 Workshop on Balancing Reactivity and Social Deliberation in Multi-Agent Systems."},{"key":"5141883_CR13","unstructured":"Castelpietra, C., Iocchi, L., Nardi, D., Piaggio, M., Scalzo, A., and Sgorbissa, A. 2000. Coordination among heterogenous robotic soccer players. In Proc. of International Conference on Intelligent Robots and Systems (IROS'2000)."},{"key":"5141883_CR14","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1023\/A:1016639210559","volume":"31","author":"H. Choset","year":"2001","unstructured":"Choset, H. 2001. Coverage for robotics\u2014A survey on recent results. Annals of Mathematics and Artificial Intelligence, 31:113\u2013126.","journal-title":"Annals of Mathematics and Artificial Intelligence"},{"issue":"4","key":"5141883_CR15","doi-asserted-by":"crossref","first-page":"375","DOI":"10.1007\/BF00240651","volume":"3","author":"D. Dudek","year":"1996","unstructured":"Dudek, D., Jenkin, M., Milios, E., and Wilkes, D. 1996. A taxonomy for multi-agent robotics. Autonomous Robots, 3(4):375\u2013397.","journal-title":"Autonomous Robots"},{"key":"5141883_CR16","unstructured":"Engelore, R. and T.M. (Eds.). 1988. Blackboard Systems. Addison-Wesley."},{"issue":"1","key":"5141883_CR17","first-page":"19","volume":"1","author":"J. Evans","year":"1995","unstructured":"Evans, J. 1995. HelpMate: A service robot success story. ServiceRobot: An International Journal, 1(1):19\u201321.","journal-title":"ServiceRobot: An International Journal"},{"key":"5141883_CR18","unstructured":"Everett, H.R. and Gage, D. 1996, A third generation security robot. In SPIE Mobile Robot and Automated Vehicle Control Systems, Boston, USA, pp. 20\u201321."},{"key":"5141883_CR19","doi-asserted-by":"crossref","unstructured":"Ferraresso, M., Ferrari, C., Pagello, E., Polesel, R., Rosati, R., Speranzon, A., and Zanette, W. 2000. Collaborative emergent actions between real soccer robots. In RoboCup-2000: Robot Soccer World Cup IV.","DOI":"10.1007\/3-540-45324-5_29"},{"key":"5141883_CR20","unstructured":"Fontan, M. and Mataric, M. 1998. Territorial multi-robot task division. IEEE Transactions on Robotics and Automation, 15(5)."},{"key":"5141883_CR21","unstructured":"Gerkey, B.P. and Matari\u0107, M.J. 2000. \u2018Principled communication for dynamic multi-robot task allocation\u2019. In Proceedings of the International Symposium on Experimental Robotics, Waikiki, Hawaii."},{"key":"5141883_CR22","doi-asserted-by":"crossref","first-page":"471","DOI":"10.1142\/S0218195999000273","volume":"9","author":"L.J. Guibas","year":"1999","unstructured":"Guibas, L.J., Latombe, J., LaValle, S., and Lin, D. 1999. A visibility-based pursuit-evasion problem. International Journal of Computational Geometry and Applications, 9:471\u2013494.","journal-title":"International Journal of Computational Geometry and Applications"},{"key":"5141883_CR23","first-page":"304","volume":"III","author":"J.-S. Gutmann","year":"1999","unstructured":"Gutmann, J.-S., Weigel, T., and Nebel, B. 1999. Fast, accurate, and robust self-localization in the RoboCup environment. In RoboCup-99: Robot Soccer World Cup III, pp. 304\u2013317.","journal-title":"RoboCup-99: Robot Soccer World Cup"},{"key":"5141883_CR24","doi-asserted-by":"crossref","unstructured":"Hannebauer, M., Wendler, J., Gugenberger, P., and Burkhard, H. 1998. Emergent cooperation in a virtual soccer environment. In Proc. of DARS-98.","DOI":"10.1007\/978-3-642-72198-4_33"},{"key":"5141883_CR25","doi-asserted-by":"crossref","unstructured":"Iocchi, L., Nardi, D., and Salerno, M. 2001. Reactivity and deliberation: A survey on multi-robot systems. In E.P.M. Hannebauer and J. Wendler (Ed.), Balancing Reactivity and Deliberation in Multi-Agent Systems (LNAI 2103), Springer, pp. 9\u201332.","DOI":"10.1007\/3-540-44568-4_2"},{"key":"5141883_CR26","doi-asserted-by":"crossref","unstructured":"Jung, D. and Zelinsky, A. 2000. Grounded symbolic communication between heterogenoeus cooperating robots. Autonomous Robots, 8(3).","DOI":"10.1023\/A:1008929609573"},{"key":"5141883_CR27","first-page":"1","volume":"1395","author":"H. Kitano","year":"1998","unstructured":"Kitano, H., Asada, M., Kuniyoshi, Y., Noda, I., Osawa, E., and Matsubara, H. 1998. RoboCup: A challenge problem for AI and robotics. In Lecture Note in Artificial Intelligence, Vol. 1395, pp. 1\u201319.","journal-title":"Lecture Note in Artificial Intelligence"},{"issue":"1","key":"5141883_CR28","doi-asserted-by":"crossref","first-page":"215","DOI":"10.1080\/095281397147095","volume":"9","author":"K. Konolige","year":"1997","unstructured":"Konolige, K., Myers, K., Ruspini, E., and Saffiotti A. 1997. The saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9(1):215\u2013235.","journal-title":"Journal of Experimental and Theoretical Artificial Intelligence"},{"key":"5141883_CR29","unstructured":"Lee, J., Huber, M., Durfee, E., and Kenny, P. 1994. M-PRS: An implementation of the procedural reasoning system for multirobot applications. In AIAA\/NASA Conference on Intelligent Robots in Field, Factory, Service, and Space."},{"key":"5141883_CR30","doi-asserted-by":"crossref","unstructured":"Miller, D. 1990. Multiple behavior-controlled MicroRobots for planetary surface missions. In IEEE International Conference on Systems, Man, and Cybernetics, Los Angeles, USA, pp. 289\u2013292.","DOI":"10.1109\/ICSMC.1990.142112"},{"key":"5141883_CR31","doi-asserted-by":"crossref","unstructured":"Nardi, D., Adorni, G., Bonarini, A., Chella, A., Clemente, G., Pagello, E., and Piaggio, M. 1999. ART-99: Azzurra Robot Team. In RoboCup-99: Robot Soccer World Cup III.","DOI":"10.1007\/3-540-45327-X_84"},{"key":"5141883_CR32","unstructured":"Noreils, F.R. 1992. Battlefield strategies and coordination between mobile robots. In IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 1777\u20131784."},{"key":"5141883_CR33","doi-asserted-by":"crossref","unstructured":"Parker, L. 1993. Adaptive action selection for cooperative agent teams. In Proc. of 2nd International Conference on the Simulation of Adaptive Behavior. Honolulu, USA, pp. 442\u2013450.","DOI":"10.7551\/mitpress\/3116.003.0060"},{"issue":"2","key":"5141883_CR34","doi-asserted-by":"crossref","first-page":"220","DOI":"10.1109\/70.681242","volume":"14","author":"L.E. Parker","year":"1998","unstructured":"Parker, L.E. 1998. ALLIANCE: An architecture for fault tolerant multirobot cooperation. IEEE Transactions on Robotics and Automation, 14(2):220\u2013240.","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"3","key":"5141883_CR35","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1023\/A:1008977508664","volume":"8","author":"L.E. Parker","year":"2000","unstructured":"Parker, L.E. 2000. Lifelong adaption in heterogeneous multi-robot teams: Response to continual variation in individual robot performance. Autonomous Robots, 8(3):239\u2013267.","journal-title":"Autonomous Robots"},{"key":"5141883_CR36","doi-asserted-by":"crossref","first-page":"235","DOI":"10.1080\/095281300409856","volume":"12","author":"M. Piaggio","year":"2000","unstructured":"Piaggio, M., Sgorbissa, A., and Zaccaria, R. 2000a. Pre-emptive versus non-pre-emptive real time scheduling in intelligent mobile robotics. Journal of Experimental and Theoretical Artificial Intelligence, 12:235\u2013245.","journal-title":"Journal of Experimental and Theoretical Artificial Intelligence"},{"issue":"1","key":"5141883_CR37","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1163\/156855300741456","volume":"14","author":"M. Piaggio","year":"2000","unstructured":"Piaggio, M., Sgorbissa, A., and Zaccaria, R. 2000b. A programming environment for real time control of distributed multiple robotic systems. Advanced Robotics, 14(1):75\u201386.","journal-title":"Advanced Robotics"},{"key":"5141883_CR38","unstructured":"Piaggio, M., Sgorbissa, A., and Zaccaria, R. 2001. Autonomous navigation and localization in service mobile robotics. In Proc. of IROS'01."},{"key":"5141883_CR39","unstructured":"Piaggio, M. and Zaccaria, R. 1997. An information exchange protocol in a multi-layer distributed architecture. In IEEE Proc. Hawaii International Conference on Complex Systems."},{"key":"5141883_CR40","unstructured":"Shen, W.M. and Salemi, B. 2002. Distributed and dynamic task reallocation in robot organizations. In Prooceedings of the 2002 IEEE Int. Conference on Robotics and Automation. Washington, DC."},{"key":"5141883_CR41","unstructured":"Simmons, R., Apfelbaum, D., Fox, D., Goldman, R.P., Haigh, K.Z., Musliner, D.J., Pelican, M., and Thrun, S. 2000. Coordinated deployment of multiple, heterogeneous robots. In Proc. of International Conference on Intelligent Robots and Systems (IROS'2000)."},{"issue":"2","key":"5141883_CR42","doi-asserted-by":"crossref","first-page":"241","DOI":"10.1016\/S0004-3702(99)00025-9","volume":"110","author":"P. Stone","year":"1999","unstructured":"Stone, P. and Veloso, M. 1999. Task decomposition, dynamic role assignment, and low-bandwidth communication for real-time strategic teamwork. Artificial Intelligence, 110(2):241\u2013273.","journal-title":"Artificial Intelligence"},{"key":"5141883_CR43","unstructured":"Uchibe, E., Kato, T., Asada, M., and Hosoda, K. 2001. Dynamic task assignment in a multiagent\/multitask environment based on module conflict resolution. In Proced. of the 2001 IEEE International Conference on Robotics and Automation. Seoul, Korea."},{"key":"5141883_CR44","doi-asserted-by":"crossref","unstructured":"Veloso, M. and Stone, P. 1998. Individual and collaborative behaviors in a team of homogeneous robotic soccer agents. In Proceedings of the Third International Conference on Multi-Agent Systems, pp. 309\u2013316.","DOI":"10.1109\/ICMAS.1998.699074"},{"key":"5141883_CR45","doi-asserted-by":"crossref","unstructured":"Werger, B.B. and Mataric, M.J. 2000. Broadcast of local eligibility for multi-target observation. In Proc. of DARS.","DOI":"10.1145\/336595.336621"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1023\/A:1025589008533.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1023\/A:1025589008533\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1023\/A:1025589008533.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,24]],"date-time":"2025-05-24T06:56:19Z","timestamp":1748069779000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1023\/A:1025589008533"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2003,9]]},"references-count":45,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2003,9]]}},"alternative-id":["5141883"],"URL":"https:\/\/doi.org\/10.1023\/a:1025589008533","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2003,9]]}}}