@article{BruTraBai-etal2012:tarossi,
  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},
  journal   = {Robotics and Autonomous Systems},
  year      = {2012},
  volume    = {60},
  issue     = {11},
  pages     = {1408--1420}
  doi       = {10.1016/j.robot.2012.05.018},
}