Hayes, A. T.Martinoli, A.Goodman, R. M.2004-11-042004-11-042004-11-04200310.1017/S0263574703004946https://infoscience.epfl.ch/handle/20.500.14299/172162Swarm Robotic Odor Localization: Off-Line Optimization and Validation with Real Robotstext::journal::journal article::research article