Mathematical Model of Foraging in a Group of Robots: Effect of Interference. Lerman, K. & Galstyan, A. Auton. Robots, 13(2):127–141, 2002.
Mathematical Model of Foraging in a Group of Robots: Effect of Interference [link]Paper  doi  bibtex   
@article{DBLP:journals/arobots/LermanG02,
  author    = {Kristina Lerman and
               Aram Galstyan},
  title     = {Mathematical Model of Foraging in a Group of Robots: Effect of Interference},
  journal   = {Auton. Robots},
  volume    = {13},
  number    = {2},
  pages     = {127--141},
  year      = {2002},
  url       = {https://doi.org/10.1023/A:1019633424543},
  doi       = {10.1023/A:1019633424543},
  timestamp = {Thu, 18 May 2017 01:00:00 +0200},
  biburl    = {https://dblp.org/rec/journals/arobots/LermanG02.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

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