Hossein YarahmadiMohammad Ebrahim ShiriHamidreza NavidiArash SharifiMoharram ChallengerRevAP: A bankruptcy-based algorithm to solve the multi-agent credit assignment problem in task start threshold-based multi-agent systems.1046312024174Robotics Auton. Syst.https://doi.org/10.1016/j.robot.2024.104631db/journals/ras/ras174.html#YarahmadiSNSC24