@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} }