1. Kube, C. R. & Zhang, H. Collective robotics: From social insects to robots. Adapt. Behav. 2, 189– 218 (1994).
2. Beckers, R., Holland, O. E. & Deneubourg, J. L. in Proceedings of the Fourth Workshop on Artificial Life (eds Brooks, R. & Meas, P.) 181–189 (MIT Press, Boston, 1994).
3. Deneubourg, J. L. et al. in Proceedings of the first International Conference on Simulation of Adaptive Behavior. From Animals to Animats (eds Meyer, J.-A. & Wilson, S. W.) 181–189 (MIT Press, Boston, 1990).
4. Bonabeau, E., Dorigo, M. & Théraulaz, G. Swarm Intelligence. From Natural to Artificial Systems (Oxford Univ. Press, Oxford, 1999).
5. Cao, Y. U., Fukunaga, A. S. & Kahng, A. B. Cooperative mobile robotics: Antecedents and directions. Autonom. Robots 4, 7–27 (1997).