Viktor Avrutin Andreas Koch 0003 Reinhard Lafrenz Paul Levi Michael Schanz A Unified Architecture for the Control Software of a Robot Swarm: Design and Investigation Results. 41-48 2005 AMS http://dx.doi.org/10.1007/3-540-30292-1_6 conf/ams/2005 db/conf/ams/ams2005.html#AvrutinKLLS05