On the use of Bio-PEPA for modelling and analysing collective behaviours in swarm robotics. Massink, M., Brambilla, M., Latella, D., Dorigo, M., & Birattari, M. Swarm Intelligence, 7(2–3):201-228, Springer US, 2013.
On the use of Bio-PEPA for modelling and analysing collective behaviours in swarm robotics [pdf]Paper  doi  bibtex   

Downloads: 0