@article{MatValChr-etal2015:ar,
  author  = {Nithin Mathews and Gabriele Valentini and Anders Lyhne Christensen and Rehan        O'Grady and Arne Brutschy and Marco Dorigo},
  journal = {Autonomous Robots},
  title   = {Spatially Targeted Communication in Decentralized Multirobot Systems},
  year    = {2015},
  number  = {4},
  pages   = {439--457},
  volume  = {38},
  doi     = {10.1007/s10514-015-9423-6}
}