Karuna Hadeli Paul Valckenaers Constantin B. Zamfirescu Hendrik Van Brussel Bart Saint Germain Tom Holvoet Elke Steegmans Self-Organising in Multi-agent Coordination and Control Using Stigmergy. 105-123 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2977&spage=105 2003 conf/atal/2003esoa Engineering Self-Organising Systems db/conf/atal/esoa2003.html#HadeliVZBGHS03