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Martinoli, A., Ijspeert, A. J., Gambardella, L. M., Floreano, D., Nicoud, J. D., & Mondada, F. (1999). A probabilistic model for understanding and comparing collective aggregation mechanisms. Advances in Artificial Life. ECAL 1999, 575–584. https://doi.org/10.1007/3-540-48304-7_77

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