Christian Guttmann Iyad Rahwan Michael Georgeff A Study of an Approach to the Collective Iterative Task Allocation Problem. 363-369 2007 conf/iat/2007 IAT http://doi.ieeecomputersociety.org/10.1109/IAT.2007.17 db/conf/iat/iat2007.html#GuttmannRG07