@article {910, title = {A Banker{\textquoteright}s Solution for Deadlock Avoidance in FMS with Flexible Routing and Multiresource States}, journal = {IEEE Transactions on Robotics and Automation}, volume = {18}, year = {2002}, month = {08/2002}, pages = {621-625}, issn = {1042-296X}, author = {J. Ezpeleta and F. Tricas and F. Garc{\'\i}a-Vall{\'e}s and J.M. Colom} }