A Macroscopic Analytical Model of Collaboration in Distributed Robotic Systems. Lerman, K., Galstyan, A., Martinoli, A., & Ijspeert, A. J. Artif. Life, 7(4):375–393, 2001.
A Macroscopic Analytical Model of Collaboration in Distributed Robotic Systems [link]Paper  doi  bibtex   
@article{DBLP:journals/alife/LermanGMI01,
  author    = {Kristina Lerman and
               Aram Galstyan and
               Alcherio Martinoli and
               Auke Jan Ijspeert},
  title     = {A Macroscopic Analytical Model of Collaboration in Distributed Robotic
               Systems},
  journal   = {Artif. Life},
  volume    = {7},
  number    = {4},
  pages     = {375--393},
  year      = {2001},
  url       = {https://doi.org/10.1162/106454601317297013},
  doi       = {10.1162/106454601317297013},
  timestamp = {Fri, 13 Mar 2020 00:00:00 +0100},
  biburl    = {https://dblp.org/rec/journals/alife/LermanGMI01.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

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