@InCollection{	  shen2002simulating-self-organization-with-the-digital,
  author	= {Wei-Min Shen and C.-M. Chuong},
  booktitle	= {Multi-Robot Systems: From Swarms to Intelligent Automata},
  editor	= {A. Schultz and L. Parker},
  pages		= {149--160},
  publisher	= klu,
  title		= {Simulating self-organization with the Digital Hormone
		  Model},
  year		= {2002}
}