@Article{Tuci-etal06:acm_taas,
  author = 	 {E.~Tuci and R.~Gro{\ss} and V.~Trianni and  F.~Mondada and M.~Bonani and M.~Dorigo},
  title = 	 {Cooperation through self-assembly in multi-robot systems},
  journal = 	 {{ACM} Transactions on Autonomous and Adaptive Systems},
  year = 	 2006,
  volume = 	 {1},
  number = 	 {2},
  pages = 	 {115--150}
}