Jekanthan Thangavelautham Tim D. Barfoot Gabriele M. T. D'Eleuterio Coevolving Communication and Cooperation for Lattice Formation Tasks. 377-378 2003 conf/gecco/2003-1 GECCO http://link.springer.de/link/service/series/0558/bibs/2723/27230377.htm db/conf/gecco/gecco2003-1.html#ThangavelauthamBD03