@TECHREPORT{ducatelle09techrep,
  AUTHOR = { Frederick Ducatelle and Alexander F{\"o}rster and Gianni Di Caro and Luca Gambardella},
  TITLE = {{Task allocation in robotic swarms: new methods and comparisons}},
  INSTITUTION = {{IDSIA - Dalle Molle Institute for Artificial Intelligence}},
  YEAR = {2009},
  TYPE = {IDSIA},
  NUMBER = {IDSIA-01-09},
  ADDRESS = {Lugano, Switzerland}
}