T. Rodrigues et al.,  "Overcoming limited onboard sensing in swarm robotics through local communication", in Transactions on computational collective intelligence XX, Ngoc Thanh Nguyen, Ryszard Kowalczyk, Béatrice Duval, Jaap van den Herik, Stephane Loiseau, Joaquim Filipe, Ed., Springer, 2015, vol. 9420, pp. 201-223