Yasushi Kambayashi Yasuhiro Tsujimura Hidemi Yamachi Munehiro Takimoto Hisashi Yamamoto Design of a Multi-Robot System Using Mobile Agents with Ant Colony Clustering. 1-10 2009 HICSS http://dx.doi.org/10.1109/HICSS.2009.145 conf/hicss/2009 db/conf/hicss/hicss2009.html#KambayashiTYTY09