Long Wang Hong Shi Tianguang Chu Weicun Zhang Lin Zhang Aggregation of Foraging Swarms. 766-777 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3339&spage=766 2004 conf/ausai/2004 Australian Conference on Artificial Intelligence db/conf/ausai/ausai2004.html#WangSCZZ04