K. N. Krishnanand Debasish Ghose Glowworm Swarm Optimization Algorithm for Hazard Sensing in Ubiquitous Environments Using Heterogeneous Agent Swarms. 165-187 2008 Soft Computing Applications in Industry http://dx.doi.org/10.1007/978-3-540-77465-5_9 series/sfsc/2008-226 db/series/sfsc/sfsc226.html#KrishnanandG08