@article{PinBruSch-etal2014:al,
  author  = {Giovanni Pini and Arne Brutschy and Alexander Scheidler and Marco Dorigo and Mauro Birattari},
  title   = {Task Partitioning in a Robot Swarm: Retrieving Objects by Transferring Them Directly Between Sequential Sub-tasks},
  journal = {Artifical Life},
  year    = {2014},
  doi     = {10.1162/ARTL_a_00132},
  volume  = {20},
  number  = {3},
  pages   = {291--317},
}