Adrian K. Agogino Kagan Tumer Efficient Evaluation Functions for Multi-rover Systems. 1-11 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3102&spage=1 2004 conf/gecco/2004-1 GECCO (1) db/conf/gecco/gecco2004-1.html#AgoginoT04