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The use of multirobot systems, is affecting our society in a fundamental way; from their use in hazardous environments, to their application in automated environmental cleanup. In an unknown environment, one of the most important problem related to multirobot systems, is to decide how to coordinate actions in order to achieve tasks in an optimal way. Ant algorithms are proved to be very useful in solving such distributed control problems. We introduce in this paper a modified version of thedoi:10.1145/1456223.1456245 dblp:conf/wstst/ChattyKA08 fatcat:tswbsgfwtvcdtl22jq55apbvju