Lerman, K.Galstyan, A.Martinoli, A.Ijspeert, A. J.2004-11-042004-11-042004-11-04200110.1162/106454601317297013https://infoscience.epfl.ch/handle/20.500.14299/172170A Macroscopic Analytical Model of Collaboration in Distributed Robotic Systemstext::journal::journal article::research article