%0 Journal Article %J IEEE Transactions on Robotics and Automation %D 2002 %T A Banker's Solution for Deadlock Avoidance in FMS with Flexible Routing and Multiresource States %A J. Ezpeleta %A F. Tricas %A F. García-Vallés %A J.M. Colom %N 4 %P 621-625 %V 18 %8 08/2002