1. Cooperation without communication: Multiagent schema-based robot navigation;Arkin;Journal of Robotic Systems,1992
2. R. Beckers, O.E. Holland, J.L. Deneubourg, From local actions to global tasks: Stigmergy and collective robotics, in: Proceedings of the Fourth International Workshop on the Synthesis and Simulation of Living Systems Artificial Life IV, 1994, pp. 181–189.
3. E. Bonabeau, M. Dorigo, G. Théraulaz, Swarm Intelligence: From Natural to Artificial Systems, Oxford University Press, Oxford, 1998.
4. Self-organization in social insects;Bonabeau;Trends in Ecological Evolution,1997
5. V. Braitenberg, Vehicles: Experiments in Synthetic Psychology, MIT Press, Cambridge, MA, 1984.