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J. A.  Tran, Ghosh, P., Gu, Y., Kim, R., D'Souza, D., Ayanian, N., and Krishnamachari, B., ?Intelligent Robotic IoT System (IRIS)Testbed?, in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018.\par \par C.  Sung, Ayanian, N., and Rus, D., ?Improving the performance of multi-robot systems by task switching?, in 2013 IEEE International Conference on Robotics and Automation (ICRA)2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013.\par \par }