Sergey Kornienko Olga Kornienko Paul Levi Swarm Embodiment - A New Way for Deriving Emergent Behavior in Artificial Swarms. 25-32 2005 AMS http://dx.doi.org/10.1007/3-540-30292-1_4 conf/ams/2005 db/conf/ams/ams2005.html#KornienkoKL05