Hormone-Inspired Self-Organization and Distributed Control of Robotic Swarms. Shen, W., Will, P., Galstyan, A., & Chuong, C. Auton. Robots, 17(1):93–105, 2004.
doi  bibtex   
@article{shen_hormone-inspired_2004,
	title = {Hormone-{Inspired} {Self}-{Organization} and {Distributed} {Control} of {Robotic} {Swarms}},
	volume = {17},
	issn = {0929-5593},
	doi = {http://dx.doi.org/10.1023/B:AURO.0000032940.08116.f1},
	number = {1},
	journal = {Auton. Robots},
	author = {Shen, Wei-Min and Will, Peter and Galstyan, Aram and Chuong, Cheng-Ming},
	year = {2004},
	pages = {93--105}
}

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