@inproceedings{BruTraBai-etal2011:taros,
  author    = {Arne Brutschy and Nam-Luc Tran and Nadir Baiboun and Marco Frison and Giovanni Pini and Andrea Roli and Marco Dorigo and Mauro Birattari},
  title     = {Costs and Benefits of Behavioral Specialization},
  booktitle = {Towards Autonomous Robotic Systems - 12th Annual Conference, TAROS 2011},
  year      = {2011},
  series    = {Lecture Notes in Computer Science},
  publisher = {Springer},
  address   = {Berlin/Heidelberg, Germany},
  pages     = {90-101},
  volume    = {6856},
  isbn      = {978-3-642-23231-2},
  doi       = {10.1007/978-3-642-23232-9_9}
}