A Review of Probabilistic Macroscopic Models for Swarm Robotic Systems. Lerman, K., Martinoli, A., & Galstyan, A. In E., S. & W., S., editors, Swarm Robotics Workshop: State-of-the-art Survey, of LNCS, pages 143–152. Springer-Verlag, Berlin Heidelberg, 2005.
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