@conference {AyanianDecentralized2012,
	title = {Decentralized Multirobot Control in Partially Known Environments with Dynamic Task Reassignment},
	booktitle = {IFAC Workshop on Distributed Estimation and Control in Networked Systems},
	year = {2012},
	month = {Sept},
	pages = {311-316},
	address = {Santa Barbara, CA},
	author = {Nora Ayanian and Daniela Rus and Vijay Kumar}
}
