@article{zhang_collins_barbu_2013, title={An Efficient Stochastic Clustering Auction for Heterogeneous Robotic Collaborative Teams}, volume={72}, DOI={10.1007/s10846-012-9800-8}, number={3-4}, journal={Journal of Intelligent & Robotic Systems}, author={Zhang, Kai and Collins, Emmanuel G. and Barbu, Adrian}, year={2013}, pages={541–558}}