AN IDIOTYPIC NETWORK APPROACH TO TASK ALLOCATION IN THE MULTI-ROBOT DOMAIN - Use of an Artificial Immune System to Moderate the Greedy Solution Topics: Cooperation and Coordination; Group Decision Making; Multi-Agent Systems; Task Planning and Execution In Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, 5-14, 2012 , Vilamoura, Algarve, Portugal