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Lerman, Kristina and Galstyan, Aram and Martinoli, Alcherio et al. (2001) A macroscopic analytical model of collaboration in distributed robotic systems. Artificial Life, 7 (4). pp. 375-393. ISSN 1064-5462. doi:10.1162/106454601317297013. https://resolver.caltech.edu/CaltechAUTHORS:LERal01

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