Gianni A. Di Caro Frederick Ducatelle Luca Maria Gambardella Wireless Communications for Distributed Navigation in Robot Swarms. 21-30 2009 EvoWorkshops http://dx.doi.org/10.1007/978-3-642-01129-0_3 conf/evoW/2009 db/conf/evoW/evoW2009.html#CaroDG09