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Tan, Eijyne and Rishwaraj, G. and Ponnambalam, S. G. (2020) Development of a task-oriented, auction-based task allocation framework for a heterogeneous multirobot system. Sadhana, 45 (1). pp. 1-13. ISSN 0256-2499 (Print); 0973-7677 (Online). (Published)