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This paper addresses team formation in the RoboCup Rescue centered on task allocation. We follow a previous approach that is based on so-called extreme teams, which have four key characteristics: agents act in domains that are dynamic; agents may perform multiple tasks; agents have overlapping functionality regarding the execution of each task but differing levels of capability; and some tasks may depict constraints such as simultaneous execution. So far these four characteristics have not beendoi:10.1007/s10458-010-9136-3 fatcat:ncrbocwoabdbrbdekwpjce7aam