Gianluca Baldassarre Stefano Nolfi Strengths and synergies of evolved and designed controllers: A study within collective robotics. 857-875 2009 173 Artif. Intell. 7-8 http://dx.doi.org/10.1016/j.artint.2009.01.001 db/journals/ai/ai173.html#BaldassarreN09