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@InBook{DohertyEtal2011AOSE,
  author = 	 {Patrick Doherty and Fredrik Heintz and David Land{\'e}n},
  editor = 	 {D. Weyns and M.-P. Gleizes},
  title = 	 {Agent-Oriented Software Engineering XI},
  chapter = 	 {A Delegation-Based Architecture for Collaborative Robotics},
  publisher = 	 {Springer-Verlag},
  year = 	 {2011},
  series = 	 {LNCS 6788},
  address = 	 {Berlin Heidelberg},
  pages = 	 {205--247},
  url =          {http://www.ida.liu.se/~frehe/publications/aose2011.pdf}
}

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