Antoine Decugnière Benjamin Poulain Alexandre Campo Carlo Pinciroli Bruno Tartini Michel Osée Marco Dorigo Mauro Birattari Enhancing the Cooperative Transport of Multiple Objects. 307-314 2008 ANTS Conference http://dx.doi.org/10.1007/978-3-540-87527-7_31 conf/antsw/2008 db/conf/antsw/ants2008.html#DecugnierePCPTODB08