Property-driven design for swarm robotics. Brambilla, M., Pinciroli, C., Birattari, M., & Dorigo, M. In Conitzer, W. & van der Hoek, editors, Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2012), pages 139–146. International Foundation for Autonomous Agents and Multiagent Systems (http://www.ifaamas.org/Proceedings/aamas2012), 2012.
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