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S.  Sariel and Balch, T., ?Robust Multi-Robot Cooperation Through Dynamic Task Allocation and Precaution Routines?, in The 3rd International Conference on Informatics in Control, Automation and Robotics (ICINCO), Setubal, Portugal, 2006.\par \par S.  Sariel and Balch, T., ?Real Time Auction Based Allocation of Tasks for Multi-Robot Exploration Problem in Dynamic Environments?, in Integrating Planning into Scheduling: Papers from the 2005 AAAI Workshop, ed. Mark Boddy, Amedeo Cesta, and Stephen F. Smith, American Association for Artificial Intelligence (AAAI), 2005.\par \par }