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A. Martinoli, K. Easton, and W. Agassounon, Modeling Swarm Robotic Systems: A Case Study in Collaborative Distributed Manipulation. Special Issue on Experimental Robotics, Int. Journal of Robotics Research, 23 (2004), No. 4, pp. 415-436.
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Understanding collective aggregation mechanisms: From probabilistic modeling to experiments with real robots
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Simulating the power consumption of large-scale sensor network applications
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