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2004
W. - M. Shen, P. Will, A. Galstyan, and C. - M. Chuong, "Hormone-Inspired Self-Organization and Distributed Control of Robotic Swarms", Auton. Robots, vol. 17, no. 1, Hingham, MA, USA, Kluwer Academic Publishers, pp. 93–105, 2004.