Probabilistic Model Checking of Ant-Based Positionless Swarming. Gainer, P., Dixon, C., & Hustadt, U. In Alboul, L., Damian, D. D., & Aitken, J. M., editors, Towards Autonomous Robotic Systems - 17th Annual Conference, TAROS 2016, Sheffield, UK, June 26 - July 1, 2016, Proceedings, volume 9716, of Lecture Notes in Computer Science, pages 127–138, 2016. Springer.
Probabilistic Model Checking of Ant-Based Positionless Swarming [link]Paper  doi  bibtex   
@inproceedings{DBLP:conf/taros/GainerDH16,
  author       = {Paul Gainer and
                  Clare Dixon and
                  Ullrich Hustadt},
  editor       = {Lyuba Alboul and
                  Dana D. Damian and
                  Jonathan M. Aitken},
  title        = {Probabilistic Model Checking of Ant-Based Positionless Swarming},
  booktitle    = {Towards Autonomous Robotic Systems - 17th Annual Conference, {TAROS}
                  2016, Sheffield, UK, June 26 - July 1, 2016, Proceedings},
  series       = {Lecture Notes in Computer Science},
  volume       = {9716},
  pages        = {127--138},
  publisher    = {Springer},
  year         = {2016},
  url          = {https://doi.org/10.1007/978-3-319-40379-3\_13},
  doi          = {10.1007/978-3-319-40379-3\_13},
  timestamp    = {Mon, 03 Jan 2022 22:19:33 +0100},
  biburl       = {https://dblp.org/rec/conf/taros/GainerDH16.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

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