@Article{trianni04ras-ias,
  author = {V.~Trianni and S.~Nolfi and M.~Dorigo},
  title = {Cooperative Hole Avoidance in a {\em Swarm-bot}},
  journal = 	 {Robotics and Autonomous Systems},
  volume = 54,
  number = 2,
  pages = {97--103},
  year = 2006,
}