@article{brambilla2015property,
  title={Property-driven design for robot swarms: A design method based on prescriptive modeling and model checking},
  author={Brambilla, Manuele and Brutschy, Arne and Dorigo, Marco and Birattari, Mauro},
  journal={ACM Transactions on Autonomous and Adaptive Systems (TAAS)},
  volume={9},
  number={4},
  pages={17},
  year={2015},
  publisher={ACM}
}

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