Michal Barcis Agata Barcis Nikolaos Tsiogkas Hermann Hellwagner Information Distribution in Multi-Robot Systems: Generic, Utility-Aware Optimization Middleware. 685105 2021 8 Frontiers Robotics AI https://doi.org/10.3389/frobt.2021.685105 db/journals/firai/firai8.html#BarcisBTH21