@INPROCEEDINGS{MM06b,
  author = {Alejandro R. Mosteo and Luis Montano},
  title = {Simulated annealing for multi-robot hierarchical task allocation
	with flexible constraints and objective functions},
  booktitle = {IROS'06 workshop on Network Robot Systems: Toward intelligent robotic
	systems integrated with environments},
  year = {2006},
}