@incollection{OgrPinChrDor2009:robotica, author = {Rehan O'Grady and Carlo Pinciroli and Anders Christensen and Marco Dorigo}, title = {Supervised Group Size Regulation in a Heterogeneous Robotic Swarm}, publisher = {IPCB-Instituto Politécnico de Castelo Branco}, year = {2009}, booktitle = {9th Conference on Autonomous Robot Systems and Competitions, Rob{\'o}tica 2009}, pages = {113--119}, address = {Castelo Branco, Portugal} }