@article{BruPinPin-etal2014:sbot,
  author  = {A.~Brutschy and G.~Pini and C.~Pinciroli and M.~Birattari and M.~Dorigo},
  title   = {Self-organized task allocation to sequentially interdependent tasks in swarm robotics},
  journal = {Autonomous Agents and Multi-Agent Systems},
  year    = {2014},
  pages   = {101--125},
  number  = {1},
  volume  = {28},
  doi     = {10.1007/s10458-012-9212-y}
}