@Article{TrianniDorigo:BioCyb:06,
  author = 	 {V.~Trianni and M.~Dorigo},
  title = 	 {Self-Organisation and Communication in Groups of Simulated and Physical Robots},
  journal = 	 {Biological Cybernetics},
  year = 	 2006,
  volume =	 95,
  number =	 3,
  pages =	 {213--231}
}