Modeling and Mathematical Analysis of Swarms of Microscopic Robots. Galstyan, A., Hogg, T., & Lerman, K. CoRR, 2006.
Modeling and Mathematical Analysis of Swarms of Microscopic Robots [link]Paper  bibtex   
@article{DBLP:journals/corr/abs-cs-0604110,
  author       = {Aram Galstyan and
                  Tad Hogg and
                  Kristina Lerman},
  title        = {Modeling and Mathematical Analysis of Swarms of Microscopic Robots},
  journal      = {CoRR},
  volume       = {abs/cs/0604110},
  year         = {2006},
  url          = {http://arxiv.org/abs/cs/0604110},
  eprinttype    = {arXiv},
  eprint       = {cs/0604110},
  timestamp    = {Mon, 13 Aug 2018 01:00:00 +0200},
  biburl       = {https://dblp.org/rec/journals/corr/abs-cs-0604110.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

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