A Review of Probabilistic Macroscopic Models for Swarm Robotic Systems. Lerman, K., Martinoli, A., & Galstyan, A. In E, S. & W, S., editors, Swarm Robotics Workshop: State-of-the-art Survey, of LNCS, pages 143–152. Springer-Verlag, Berlin Heidelberg, 2005.
bibtex   
@incollection{lerman_review_2005,
	address = {Berlin Heidelberg},
	series = {{LNCS}},
	title = {A {Review} of {Probabilistic} {Macroscopic} {Models} for {Swarm} {Robotic} {Systems}},
	number = {3342},
	booktitle = {Swarm {Robotics} {Workshop}: {State}-of-the-art {Survey}},
	publisher = {Springer-Verlag},
	author = {Lerman, Kristina and Martinoli, A. and Galstyan, Aram},
	editor = {E, Sahin and W, Spears},
	year = {2005},
	keywords = {multi-agent-systems},
	pages = {143--152},
}

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