Szukana fraza: [Abstract = "In this paper we present a solution to this problem based on the partial centralization idea. The coordinator module is incorporated into the system and becomes active when multiple equilibria are detected. The coordination method includes a \"fair arbiter\" for the selection of an appropriate equilibrium solution. Simulation studies of the proposed methodology were carried out for 2, 3 and 5 robots, and their results are presented."]

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