Rodolphe Charrier Christine Bourjot François Charpillet A Nonlinear Multi-agent System designed for Swarm Intelligence: the Logistic MAS. 32-44 2007 conf/saso/2007 SASO http://doi.ieeecomputersociety.org/10.1109/SASO.2007.1 db/conf/saso/saso2007.html#CharrierBC07