@article{ChrOgrDor2009:tec,
  author = {Anders Christensen and Rehan O'Grady and Marco Dorigo},
  title = {From Fireflies to Fault Tolerant Swarms of Robots},
  year = {2009},
  journal = {IEEE Transactions on Evolutionary Computation},
  volume = {13},
  number = {4},
  pages = {754--766},
  doi = {http://dx.doi.org/10.1109/TEVC.2009.2017516}
}