Sergey Kornienko Olga Kornienko A. Nagarathinam Paul Levi From real robot swarm to evolutionary multi-robot organism. 1483-1490 2007 IEEE Congress on Evolutionary Computation http://dx.doi.org/10.1109/CEC.2007.4424647 conf/cec/2007 db/conf/cec/cec2007.html#KornienkoKNL07