@TechReport{labella03:_prey_retriev_swarm_robot, author = {Labella, T.H.}, title = {Prey Retrieval by a Swarm of Robots}, institution = {IRIDIA, Universite Libre de Bruxelles}, year = 2003, number = {TR/IRIDIA/2003-16}, note = {Thesis for the \emph{Diplome d'Etudes Approfondies (DEA)}}, address = {Brussels, Belgium} }