@inproceedings{PinOgrChrDor2009:icar,
  author = {Carlo Pinciroli and Rehan O'Grady and Anders Christensen
            and Marco Dorigo},
  title = {Self-Organised Recruitment in a Heteregeneous Swarm},
  year = {2009},
  booktitle = {Fourteenth International Conference on Advanced Robotics
               -- ICAR 2009},
  pages = {1--8},
  note = {Proceedings on CD-ROM, paper ID 176}
}