@article{DBLP:journals/alife/LermanGMI01,
  author    = {Kristina Lerman and
               Aram Galstyan and
               Alcherio Martinoli and
               Auke Jan Ijspeert},
  title     = {A Macroscopic Analytical Model of Collaboration in Distributed
               Robotic Systems},
  journal   = {Artificial Life},
  volume    = {7},
  number    = {4},
  year      = {2001},
  pages     = {375-393},
  ee        = {http://dx.doi.org/10.1162/106454601317297013},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}