@article{PinBruPin-etal2013:ab,
  author  = {Giovanni~Pini and Arne~Brutschy and Carlo~Pinciroli and Marco~Dorigo and Mauro~Birattari},
  title   = {Autonomous task partitioning in robot foraging: an approach based on cost estimation},
  journal = {Adaptive Behavior},
  year    = {2013},
  volume  = {21},
  number  = {2},
  pages   = {117--135},
  doi     = {10.1177/1059712313484771}
}