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M. G.  Lagoudakis, Markakis, E., Kempe, D., Keskinocak, P., Kleywegt, A., Koenig, S., Tovey, C., Meyerson, A., and Jain, S., ?Auction-Based Multi-Robot Routing?, in Proceedings of Robotics: Science and Systems, Cambridge, USA, 2005.\par \par }