A Review of Probabilistic Macroscopic Models for Swarm Robotic Systems. Lerman, K., Martinoli, A., & Galstyan, A. In Sahin, E. & Spears, W. M., editors, Swarm Robotics, SAB 2004 International Workshop, Santa Monica, CA, USA, July 17, 2004, Revised Selected Papers, volume 3342, of Lecture Notes in Computer Science, pages 143–152, 2004. Springer.  
Paper  doi  bibtex   @inproceedings{DBLP:conf/sab/LermanMG04,
  author       = {Kristina Lerman and
                  Alcherio Martinoli and
                  Aram Galstyan},
  editor       = {Erol Sahin and
                  William M. Spears},
  title        = {A Review of Probabilistic Macroscopic Models for Swarm Robotic Systems},
  booktitle    = {Swarm Robotics, {SAB} 2004 International Workshop, Santa Monica, CA,
                  USA, July 17, 2004, Revised Selected Papers},
  series       = {Lecture Notes in Computer Science},
  volume       = {3342},
  pages        = {143--152},
  publisher    = {Springer},
  year         = {2004},
  url          = {https://doi.org/10.1007/978-3-540-30552-1\_12},
  doi          = {10.1007/978-3-540-30552-1\_12},
  timestamp    = {Wed, 07 Dec 2022 00:00:00 +0100},
  biburl       = {https://dblp.org/rec/conf/sab/LermanMG04.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
} 
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