@ARTICLE{Zieliński_C._General_2010,
 author={Zieliński, C. and Winiarski, T.},
 volume={58},
 number={No 1},
 journal={Bulletin of the Polish Academy of Sciences Technical Sciences},
 pages={15-28},
 howpublished={online},
 year={2010},
 title={General specification of multi-robot control system structures},
 URL={http://journals.pan.pl/Content/82981/PDF/02_paper.pdf},
 doi={10.2478/v10175-010-0002-x},
}