Macarthur, Kathryn, Ruben Stranders, Sarvapali Ramchurn, and Nicholas Jennings. “A Distributed Anytime Algorithm for Dynamic Task Allocation in Multi-Agent Systems”. Proceedings of the AAAI Conference on Artificial Intelligence 25, no. 1 (August 4, 2011): 701–706. Accessed May 28, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/7866.