@article{wurm13auro,
   author = {Kai M. Wurm and Christian Dornhege and Cyrill Stachniss and Bernhard Nebel and Wolfram Burgard},
   title = {Coordinating Heterogeneous Teams of Robots using Temporal Symbolic Planning},
   journal = {Autonomous Robots},
   volume = {34},
   number = {4},
   pages = {277-294},
   year = {2013},
}