@article{SchBruFerDor2016:tcyb, Author = {A. Scheidler and A. Brutschy and E. Ferrante and M. Dorigo}, Journal = {IEEE Transactions on Cybernetics}, Number = {5}, Pages = {1175--1188}, Title = {The k-Unanimity Rule for Self-Organized Decision-Making in Swarms of Robots}, Volume = {46}, Year = {2016}}