Teijiro Isokawa Ferdinand Peper Masahiko Mitsui Jian-Qin Liu Kenichi Morita Hiroshi Umeo Naotake Kamiura Nobuyuki Matsui Computing by Swarm Networks. 50-59 2008 ACRI http://dx.doi.org/10.1007/978-3-540-79992-4_7 conf/acri/2008 db/conf/acri/acri2008.html#IsokawaPMLMUKM08