P. S. Romano et al., " Hybrid training to generate robust behaviour for swarm robotics tasks", in Proc. of the 15th Int. Joint Conf. on Computational Intelligence, van Stein, N., Marcelloni, F., Lam, H. K., Cottrell, M., and Filipe, J., Ed., Rome, Italy, SciTePress, 2023, pp. 265-277