@article{Mayer.Sotto.Garcke:2023,
author={Mayer, Sebastian and Sotto, Léo Françoso Dal Piccol and Garcke, Jochen},
  journal={IEEE Access}, 
  title={The Elements of Flexibility for Task-Performing Systems}, 
  year={2023},
  volume={11},
  pages={8029-8056},
  doi={10.1109/ACCESS.2023.3238872},
  eprint = {2206.00582}
}