Yoann Dieudonné Shlomi Dolev Franck Petit Michael Segal Deaf, Dumb, and Chatting Robots, Enabling Distributed Computation and Fault-Tolerance Among Stigmergic Robot http://arxiv.org/abs/0902.3549 2009 CoRR abs/0902.3549 db/journals/corr/corr0902.html#abs-0902-3549 informal publication