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Multi-robot Markov random fields:

, In: Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3,
Butterfield, Jesse ; Jenkins, Odest Chadwicke ; Gerkey, Brian - p. 1211-1214 , 2008
Link: https://dl.acm.org/doi/10.5555/1402821.1402833