Ryusuke Fujisawa Shigeto Dobata Fumitoshi Matsuno Increasing Individual Density Reduces Extra-Variance in Swarm Intelligence. 570-571 2010 ANTS Conference http://dx.doi.org/10.1007/978-3-642-15461-4_65 conf/antsw/2010 db/conf/antsw/ants2010.html#FujisawaDM10