Self-Organized flocking with a heterogeneous mobile robot swarm. A. Stranieri, E. Ferrante, E. Turgut, A., V. Trianni, C. Pinciroli, M. Birattari, & M., M. In T. Lenaerts, M. Giacobini, H. Bersini, P. Borgine, M. Dorigo, & R. Doursat, editors, Proceedings of ECAL 2011, pages 789–796, Cambridge, MA, 2011. MIT Press.
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