@inproceedings{LNAI76910839,
   editor    = {Michael Thielscher and Dongmo Zhang},
   booktitle = {AI 2012: Advances in Artificial Intelligence},
   publisher = {Springer},
   location  = {Heidelberg},
   series    = {Lecture Notes in Computer Science},
   volume    = {7691},
   year      = {2012},
   isbn      = {978-3-642-35100-6},
   author    = {Bradford Heap and Maurice Pagnucco},
   title     = {Analysis of Cluster Formation Techniques for Multi-robot Task Allocation Using Sequential Single-Cluster Auctions},
   pages     = {839--850}
}