Winfield, A. F. T.Harper, C. J.Nembrini, J.2005-05-272005-05-272005-05-27200510.1007/978-3-540-30552-1_11https://infoscience.epfl.ch/handle/20.500.14299/213998Towards Dependable Swarms and a New Discipline of Swarm Engineeringtext::conference output::conference proceedings::conference paper