@techreport{Brutschy2009:rarTR,
  Author =      {A.~Brutschy},
  Title =       {Task Allocation in Swarm Robotics. Towards a Method for Self-Organized Allocation to Complex Tasks},
  Institution = {IRIDIA, Universit\'e Libre de Bruxelles},
  Year =        {2009},
  Number =      {TR/IRIDIA/2009-007},
  Address =     {Brussels, Belgium},
}