Carlo Pinciroli Vito Trianni Rehan O'Grady Giovanni Pini Arne Brutschy Manuele Brambilla Nithin Mathews Eliseo Ferrante Gianni Di Caro Frederick Ducatelle Timothy S. Stirling Álvaro Gutiérrez Luca Maria Gambardella Marco Dorigo ARGoS: A modular, multi-engine simulator for heterogeneous swarm robotics. 5027-5034 2011 IROS http://dx.doi.org/10.1109/IROS.2011.6094829 conf/iros/2011 db/conf/iros/iros2011.html#PinciroliTOPBBMFCDSGGD11