Antons Rebguns Diana F. Spears Richard Anderson-Sprecher Aleksey Kletsov A Theoretical Framework for Estimating Swarm Success Probability Using Scouts. 17-45 2010 1 IJSIR 4 http://dx.doi.org/10.4018/jsir.2010100102 db/journals/ijsir/ijsir1.html#RebgunsSAK10