@misc {IOPORT.70815491,
    author       = {Mathews, Nithin and Christensen, Anders Lyhne and Ferrante, Eliseo and O'grady, Rehan and Dorigo, Marco},
    title        = {Establishing spatially targeted communication in a heterogeneous robot swarm},
    howpublished = {AAMAS, 939-946 (2010).},
    year         = {2010},
    doi          = {10.1145/1838206.1838332},
    identifier   = {70815491},
}