Lerman, K.Martinoli, A.Galstyan, A.2005-04-012005-04-012005-04-01200410.1007/978-3-540-30552-1_12https://infoscience.epfl.ch/handle/20.500.14299/212635WOS:0002281815000126555A Review of Probabilistic Macroscopic Models for Swarm Robotic Systemstext::conference output::conference proceedings::conference paper