@Misc{FerranteMAS,
  author = 	 {E. Ferrante},
  title = 	 {A Control Architecture for a Heterogeneous Swarm of Robots: The Design of a Modular Behavior-based Architecture},
  year = 	 {2009},
  note = 	 {MAS report - Universit\'e Libre de Bruxelles},
  keywords = {software engineering, simulation, collective transport, swarm robotics},
  url = {http://bio.kuleuven.be/ento/ferrante/papers/FerranteMAS.pdf},
}

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