Self-organized flocking with a mobile robot swarm: a novel motion control method. Ferrante, E., Turgut, A. E., Huepe, C., Stranieri, A., Pinciroli, C., & Dorigo, M. Adaptive Behavior, 20(6):460-477, 2012.
Self-organized flocking with a mobile robot swarm: a novel motion control method [pdf]Paper  bibtex   

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