Frederick Ducatelle Gianni A. Di Caro Luca Maria Gambardella Robot Navigation in a Networked Swarm. 275-285 2008 ICIRA (1) http://dx.doi.org/10.1007/978-3-540-88513-9_30 conf/icira/2008-1 db/conf/icira/icira2008-1.html#DucatelleCG08