Vincent A. Cicirello Stephen F. Smith Distributed Coordination of Resources via Wasp-Like Agents. 71-80 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2564&spage=71 2002 conf/wrac/2002 WRAC db/conf/wrac/wrac2002.html#CicirelloS02