Christopher Rouff Amy Vanderbilt Michael G. Hinchey Walt Truszkowski James L. Rash Properties of a Formal Method for Prediction of Emergent Behaviors in Swarm-Based Systems. 24-33 2004 conf/sefm/2004 SEFM http://doi.ieeecomputersociety.org/10.1109/SEFM.2004.34 db/conf/sefm/sefm2004.html#RouffVHTR04