@article{BruGarBra-etal2015:tam,
  author  = {Arne Brutschy and Lorenzo Garattoni and Manuele Brambilla and Gianpiero Francesca and Giovanni Pini and Marco Dorigo and   Mauro Birattari},
  title   = {The {TAM}: abstracting complex tasks in swarm robotics research},
  journal = {Swarm Intelligence},
  year    = {2015},
  volume  = {9},
  number  = (1),
  pages   = {1--22},
  doi     = {10.1007/s11721-014-0102-6}
}