@article{PinGagBru-etal2013:antssi,
  author  = {Giovanni~Pini and Matteo~Gagliolo and Arne~Brutschy and M.~Dorigo and M.~Birattari},
  title   = {Task partitioning in a robot swarm: a study on the effect of communication},
  journal = {Swarm Intelligence},
  year    = {2013},
  volume  = {7},
  number  = {2--3},
  pages   = {173--199},
  doi     = {10.1007/s11721-013-0078-7}
}