Elio Tuci Christos Ampatzis Federico Vicentini Marco Dorigo Operational Aspects of the Evolved Signalling Behaviour in a Group of Cooperating and Communicating Robots. 113-127 2006 conf/eelc/2006 EELC http://dx.doi.org/10.1007/11880172_10 db/conf/eelc/eelc2006.html#TuciAVD06