@InProceedings{hazard06a,
  author =	 {Christopher J. Hazard and Peter R. Wurman and
                  Raffaello D'Andrea},
  title =	 {Alphabet Soup: A Testbed for Studying Resource
                  Allocation in Multi-Vehicle Systems},
  booktitle =	 {Proceedings of the {AAAI} Workshop on Auction-Based
                  Robot Coordination},
  crossref =	 {dias06a},
  year =	 2006,
  abstract =	 {We present ALPHABET SOUP, a Java-based model of a
                  multivehicle warehouse that frames control and
                  coordination issues. By presenting this abstract
                  model of an actual system, we hope to expose the
                  research community to the commercially consequential
                  issues of resource allocation and robot motion
                  planning. In ALPHABET SOUP, robots must be used to
                  move buckets of letters from letter receiving
                  stations to word-assembly stations. We discuss
                  potential research problems, and in particular how
                  the resource management problems are particularly
                  well suited for auction-based resource management.},
  keywords = 	 {multiagent auction},
  url = 	 {http://jmvidal.cse.sc.edu/library/hazard06a.pdf}
}