Beaver, Logan E. “Multi-Robot Task Allocation Using Global Games With Negative Feedback: The Colony Maintenance Problem”. Proceedings of the AAAI Conference on Artificial Intelligence 39, no. 13 (April 11, 2025): 13597–13604. Accessed May 25, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/33485.