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    authors = "Zhang, Yizhen and Antonsson, Erik K. and Martinoli, Alcherio",
    title = "Evolutionary engineering design synthesis of on-board traffic monitoring sensors",
    journal = "Research in Engineering Design",
    publisher = "Springer-Verlag",
    year = "2008",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20090813-100446801",
    id = "https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/vkj63-qhd81",
    issn = "0934-9839",
    doi = "10.1007/s00163-008-0047-0",
    volume = "19",
    number = "2-3",
    pages = "113-125"
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    authors = "Zhang, Yizhen and Antonsson, Erik K. and Martinoli, Alcherio",
    title = "Applied Soft Computing Technologies: The Challenge of Complexity",
    chapter = "Evolving neural controllers for collective robotic inspection",
    address = "Berlin",
    publisher = "Springer",
    year = "2006",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20110425-074717159",
    id = "https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/k572z-rbq98",
    isbn = "3-540-31649-3",
    doi = "10.1007/3-540-31662-0\_55",
    pages = "717-729"
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@article{https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/dbbv3-t8n54,
    authors = "Li, Ling and Martinoli, Alcherio and Abu-Mostafa, Yaser S.",
    title = "Learning and Measuring Specialization in Collaborative Swarm Systems",
    journal = "Adaptive Behavior",
    publisher = "SAGE Publications",
    year = "2004",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190702-144335632",
    id = "https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/dbbv3-t8n54",
    issn = "1059-7123",
    doi = "10.1177/105971230401200306",
    volume = "12",
    number = "3-4",
    pages = "199-212"
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@inbook{https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/6jthe-x3e09,
    authors = "Agassounon, William and Martinoli, Alcherio",
    title = "IEEE International Conference on Systems, Man and Cybernetics",
    chapter = "A macroscopic model of an aggregation experiment using embodied agents in groups of time-varying sizes",
    address = "Piscataway, NJ",
    publisher = "IEEE",
    year = "2002",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170522-172408940",
    id = "https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/6jthe-x3e09",
    isbn = "0-7803-7437-1",
    doi = "10.1109/ICSMC.2002.1173419",
    pages = "250-255"
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@inbook{https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/mqcjd-3wx35,
    authors = "Li, Ling and Martinoli, Alcherio and Abu-Mostafa, Yaser S.",
    title = "Intelligent Data Engineering and Automated Learning - IDEAL 2002",
    chapter = "Emergent Specialization in Swarm Systems",
    address = "Berlin",
    publisher = "Springer",
    year = "2002",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190702-150156265",
    id = "https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/mqcjd-3wx35",
    isbn = "978-3-540-44025-3",
    doi = "10.1007/3-540-45675-9\_43",
    pages = "261-266"
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@inbook{https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/5k37s-90591,
    authors = "Agassounon, William and Martinoli, Alcherio",
    title = "Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 3 (AAMAS '02)",
    chapter = "Efficiency and Robustness of Threshold-Based Distributed Allocation Algorithms in Multi-Agent Systems",
    address = "New York, NY",
    publisher = "ACM",
    year = "2002",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20160414-162952720",
    id = "https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/5k37s-90591",
    isbn = "1-58113-480-0",
    doi = "10.1145/545056.545077",
    pages = "1090-1097"
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@article{https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/e68z7-abw81,
    authors = "Hayes, Adam T. and Martinoli, Alcherio and Goodman, Rodney M.",
    title = "Distributed odor source localization",
    journal = "IEEE Sensors Journal",
    publisher = "IEEE",
    year = "2002",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190403-142504387",
    id = "https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/e68z7-abw81",
    issn = "1530-437X",
    doi = "10.1109/JSEN.2002.800682",
    volume = "2",
    number = "3",
    pages = "260-271"
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    authors = "Hayes, Adam T. and Martinoli, Alcherio and Goodman, Rodney M.",
    title = "Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium",
    chapter = "Swarm robotic odor localization",
    address = "Piscataway, NJ",
    publisher = "IEEE",
    year = "2001",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190320-143921262",
    id = "https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/ad3ys-9b559",
    isbn = "0-7803-6612-3",
    doi = "10.1109/IROS.2001.976311",
    pages = "1073-1078"
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@article{https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/6f7k7-vbx65,
    authors = "Lerman, Kristina and Galstyan, Aram and Martinoli, Alcherio and Ijspeert, Auke",
    title = "A macroscopic analytical model of collaboration in distributed robotic systems",
    journal = "Artificial Life",
    publisher = "MIT Press",
    year = "2001",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:LERal01",
    id = "https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/6f7k7-vbx65",
    issn = "1064-5462",
    doi = "10.1162/106454601317297013",
    volume = "7",
    number = "4",
    pages = "375-393"
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@article{https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/38ef7-tk545,
    authors = "Martinoli, Alcherio",
    title = "Collective Complexity out of Individual Simplicity",
    journal = "Artificial Life",
    publisher = "MIT Press",
    year = "2001",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20140610-155110984",
    id = "https://authors.library.caltech.eduhttps://authors.library.caltech.edu/records/38ef7-tk545",
    issn = "1064-5462",
    doi = "10.1162/106454601753238663",
    volume = "7",
    number = "3",
    pages = "315-319"
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