@article{Albani_2021,
title={Hierarchical Task Assignment and Path Finding with Limited Communication for Robot Swarms},
volume={11},
ISSN={2076-3417},
url={http://dx.doi.org/10.3390/app11073115},
DOI={10.3390/app11073115},
number={7},
journal={Applied Sciences},
publisher={MDPI AG},
author={Albani,
Dario and Hönig,
Wolfgang and Nardi,
Daniele and Ayanian,
Nora and Trianni,
Vito},
year={2021},
month=mar,
pages={3115} }