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Abstract: "The problem of efficient multirobot coordination has risen to the forefront of robotics research in recent years. Interest in this problem is motivated by the wide range of application domains demanding multirobot solutions. In general, multirobot coordination strategies assume either a centralized approach, where a single robot/agent plans for the group, or a distributed approach, where each robot is responsible for its own planning. Inherent to many centralized approaches aredoi:10.1184/r1/6561395 fatcat:equgph7ts5d2xmma5gifgrkvwi