Shahab Mokarizadeh Alberto Grosso Mihhail Matskin Peep Küngas Abdul Haseeb Applying Semantic Web Service Composition for Action Planning in Multi-robot Systems. 370-376 2009 ICIW http://dx.doi.org/10.1109/ICIW.2009.61 conf/iciw/2009 db/conf/iciw/iciw2009.html#MokarizadehGMKH09