@article {demange2009tutorial, title = {A tutorial on the use of graph coloring for some problems in robotics}, journal = {European Journal of Operational Research}, volume = {192}, number = {1}, year = {2009}, pages = {41{\textendash}55}, publisher = {North-Holland}, author = {Demange, Marc and Ekim, Tinaz and de Werra, Dominique} }