@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} }