@article{BraBruDorBir2014:prop,
  author  = {Manuele Brambilla and Arne Brutschy and Marco Dorigo and Mauro Birattari},
  title   = {Property-driven design for robot swarms: A design method based on prescriptive modeling and model checking},
  year    = {2014},
  journal = {ACM Transactions on Autonomous and Adaptive Systems},
  volume  = {9},
  number  = {4},
  pages   = {17:1--17:28},
  doi     = {10.1145/2700318}
}