{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T15:45:20Z","timestamp":1778859920746,"version":"3.51.4"},"reference-count":76,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2019,2,11]],"date-time":"2019-02-11T00:00:00Z","timestamp":1549843200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100001831","name":"Delft University of Technology","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100001831","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Swarm Intell"],"published-print":{"date-parts":[[2019,3]]},"DOI":"10.1007\/s11721-019-00163-0","type":"journal-article","created":{"date-parts":[[2019,2,11]],"date-time":"2019-02-11T12:02:17Z","timestamp":1549886537000},"page":"59-94","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":40,"title":["Provable self-organizing pattern formation by a swarm of robots with limited knowledge"],"prefix":"10.1007","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4694-2960","authenticated-orcid":false,"given":"Mario","family":"Coppola","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1667-1701","authenticated-orcid":false,"given":"Jian","family":"Guo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9728-1002","authenticated-orcid":false,"given":"Eberhard","family":"Gill","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8265-1496","authenticated-orcid":false,"given":"Guido C. H. E.","family":"de Croon","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2019,2,11]]},"reference":[{"key":"163_CR1","unstructured":"Achtelik, M., Achtelik, M., Brunet, Y., Chli, M., Chatzichristofis, S., Decotignie, J.\u00a0D., et al. (2012). SFly: Swarm of micro flying robots. In 2012 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 2649\u20132650). Washington: IEEE Press."},{"issue":"2","key":"163_CR2","doi-asserted-by":"publisher","first-page":"197","DOI":"10.1007\/s10514-009-9162-7","volume":"28","author":"DJ Arbuckle","year":"2010","unstructured":"Arbuckle, D. J., & Requicha, A. A. G. (2010). Self-assembly and self-repair of arbitrary shapes by a swarm of reactive robots: Algorithms and simulations. Autonomous Robots, 28(2), 197\u2013211.","journal-title":"Autonomous Robots"},{"key":"163_CR3","doi-asserted-by":"publisher","first-page":"141","DOI":"10.1007\/978-3-642-33902-8_6","volume-title":"Morphogenetic engineering: Toward programmable complex systems","author":"DJ Arbuckle","year":"2012","unstructured":"Arbuckle, D. J., & Requicha, A. A. G. (2012). Issues in self-repairing robotic self-assembly. In R. Doursat, H. Sayama, & O. Michel (Eds.), Morphogenetic engineering: Toward programmable complex systems (pp. 141\u2013155). Berlin: Springer."},{"key":"163_CR4","unstructured":"Basiri, M., Schill, F., Floreano, D., & Lima, P.\u00a0U. (2014). Audio-based localization for swarms of micro air vehicles. In 2014 IEEE international conference on robotics and automation (ICRA) (pp. 4729\u20134734). Washington: IEEE Press."},{"issue":"25","key":"163_CR5","first-page":"85","volume":"2","author":"E Bonabeau","year":"1997","unstructured":"Bonabeau, E., & Dessalles, J.-L. (1997). Detection and emergence. Intellectica, 2(25), 85\u201394.","journal-title":"Intellectica"},{"issue":"1","key":"163_CR6","doi-asserted-by":"publisher","first-page":"13","DOI":"10.1016\/S0303-2647(00)00067-8","volume":"56","author":"E Bonabeau","year":"2000","unstructured":"Bonabeau, E., Gu\u00e9rin, S., Snyers, D., Kuntz, P., & Theraulaz, G. (2000). Three-dimensional architectures grown by simple \u2018stigmergic\u2019 agents. Biosystems, 56(1), 13\u201332.","journal-title":"Biosystems"},{"key":"163_CR7","volume-title":"Model checking","author":"EM Clarke Jr","year":"1999","unstructured":"Clarke, E. M, Jr., Grumberg, O., & Peled, D. A. (1999). Model checking. Cambridge, MA: MIT Press."},{"key":"163_CR8","doi-asserted-by":"crossref","unstructured":"Conroy, J., Samuel, P., & Pines, D. (2005). Development of an MAV control and navigation system. In Infotech@ Aerospace, AIAA 2005, Arlington, Virginia (p. 7065).","DOI":"10.2514\/6.2005-7065"},{"issue":"8","key":"163_CR9","doi-asserted-by":"publisher","first-page":"1787","DOI":"10.1007\/s10514-018-9760-3","volume":"42","author":"M Coppola","year":"2018","unstructured":"Coppola, M., McGuire, K. N., Scheper, K. Y. W., & de Croon, G. C. H. E. (2018). On-board communication-based relative localization for collision avoidance in micro air vehicle teams. Autonomous Robots, 42(8), 1787\u20131805.","journal-title":"Autonomous Robots"},{"key":"163_CR10","first-page":"411","volume":"4","author":"V Darley","year":"1994","unstructured":"Darley, V. (1994). Emergent phenomena and complexity. Artificial Life, 4, 411\u2013416.","journal-title":"Artificial Life"},{"key":"163_CR11","volume-title":"Distributed formation control for autonomous robots","author":"HJG Marina Peinado de","year":"2016","unstructured":"de Marina Peinado, H. J. G. (2016). Distributed formation control for autonomous robots. Groningen: University of Groningen."},{"key":"163_CR12","unstructured":"Derakhshandeh, Z., Gmyr, R., Richa, A.\u00a0W., Scheideler, C., & Strothmann, T. (2016). Universal shape formation for programmable matter. In Proceedings of the 28th ACM symposium on parallelism in algorithms and architectures (SPAA \u201816) (pp. 289\u2013299). New York, NY: ACM."},{"key":"163_CR13","unstructured":"Di Luna, G. A., Flocchini, P., Santoro, N., Viglietta, G., & Yamauchi, Y. (2017). Shape formation by programmable particles. ArXiv Preprint. arXiv:1705.03538 ."},{"issue":"11","key":"163_CR14","doi-asserted-by":"publisher","first-page":"1429","DOI":"10.1016\/j.robot.2012.03.003","volume":"60","author":"C Dixon","year":"2012","unstructured":"Dixon, C., Winfield, A. F. T., Fisher, M., & Zeng, C. (2012). Towards temporal verification of swarm robotic systems. Robotics and Autonomous Systems, 60(11), 1429\u20131441.","journal-title":"Robotics and Autonomous Systems"},{"key":"163_CR15","unstructured":"Engelen, S., Gill, E. K.\u00a0A., & Verhoeven, C. J.\u00a0M. (2011). Systems engineering challenges for satellite swarms. In 2011 aerospace conference, AERO \u201911 (pp 1\u20138). Washington, DC: IEEE Computer Society."},{"key":"163_CR16","unstructured":"Faigl, J., Krajn\u00edk, T., Chudoba, J., P\u0159eu\u010dil, L., & Saska, M. (2013). Low-cost embedded system for relative localization in robotic swarms. In 2013 IEEE international conference on robotics and automation (ICRA) (pp. 993\u2013998). Washington: IEEE Press."},{"key":"163_CR17","unstructured":"Falconi, R., Gowal, S., & Martinoli, A. (2010). Graph based distributed control of non-holonomic vehicles endowed with local positioning information engaged in escorting missions. In 2010 IEEE international conference on robotics and automation (ICRA) (pp. 3207\u20133214). Washington: IEEE Press."},{"key":"163_CR18","doi-asserted-by":"crossref","unstructured":"Falconi, R., Sabattini, L., Secchi, C., Fantuzzi, C., & Melchiorri, C. (2011). A graph-based collision-free distributed formation control strategy. In IFAC proceedings volumes, 18th IFAC world congress (Vol. 44(1), pp. 6011\u20136016).","DOI":"10.3182\/20110828-6-IT-1002.02450"},{"issue":"2","key":"163_CR19","doi-asserted-by":"publisher","first-page":"332","DOI":"10.1017\/S0263574714000368","volume":"33","author":"R Falconi","year":"2015","unstructured":"Falconi, R., Sabattini, L., Secchi, C., Fantuzzi, C., & Melchiorri, C. (2015). Edge-weighted consensus-based formation control strategy with collision avoidance. Robotica, 33(2), 332\u2013347.","journal-title":"Robotica"},{"issue":"1","key":"163_CR20","doi-asserted-by":"publisher","first-page":"147","DOI":"10.1016\/j.tcs.2005.01.001","volume":"337","author":"P Flocchini","year":"2005","unstructured":"Flocchini, P., Prencipe, G., Santoro, N., & Widmayer, P. (2005). Gathering of asynchronous robots with limited visibility. Theoretical Computer Science, 337(1), 147\u2013168.","journal-title":"Theoretical Computer Science"},{"issue":"12","key":"163_CR21","doi-asserted-by":"publisher","first-page":"3180","DOI":"10.1109\/TAC.2015.2418673","volume":"60","author":"MJ Fox","year":"2015","unstructured":"Fox, M. J., & Shamma, J. S. (2015). Probabilistic performance guarantees for distributed self-assembly. IEEE Transactions on Automatic Control, 60(12), 3180\u20133194.","journal-title":"IEEE Transactions on Automatic Control"},{"key":"163_CR22","doi-asserted-by":"crossref","unstructured":"Gazi, V., & Passino, K.\u00a0M. (2002). A class of attraction\/repulsion functions for stable swarm aggregations. In Proceedings of the 41st IEEE conference on decision and control (CDC) (Vol.\u00a03, pp. 2842\u20132847).","DOI":"10.1109\/CDC.2002.1184277"},{"issue":"1","key":"163_CR23","doi-asserted-by":"publisher","first-page":"539","DOI":"10.1109\/TSMCB.2003.817077","volume":"34","author":"V Gazi","year":"2004","unstructured":"Gazi, V., & Passino, K\u00a0. M. (2004). Stability analysis of social foraging swarms. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 34(1), 539\u2013557.","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)"},{"issue":"9","key":"163_CR24","doi-asserted-by":"publisher","first-page":"939","DOI":"10.1177\/0278364904045564","volume":"23","author":"BP Gerkey","year":"2004","unstructured":"Gerkey, B. P., & Matari\u0107, M. J. (2004). A formal analysis and taxonomy of task allocation in multi-robot systems. The International Journal of Robotics Research, 23(9), 939\u2013954.","journal-title":"The International Journal of Robotics Research"},{"key":"163_CR25","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1007\/978-3-642-34281-3_7","volume-title":"Formal methods and software engineering: 14th international conference on formal engineering methods (ICFEM), Kyoto, Japan, November 12\u201316, 2012. Proceedings","author":"E Gjondrekaj","year":"2012","unstructured":"Gjondrekaj, E., Loreti, M., Pugliese, R., Tiezzi, F., Pinciroli, C., Brambilla, M., et al. (2012). Towards a formal verification methodology for collective robotic systems. In T. Aoki & K. Taguchi (Eds.), Formal methods and software engineering: 14th international conference on formal engineering methods (ICFEM), Kyoto, Japan, November 12\u201316, 2012. Proceedings (pp. 54\u201370). Berlin: Springer."},{"issue":"4","key":"163_CR26","doi-asserted-by":"publisher","first-page":"334","DOI":"10.1016\/j.robot.2007.08.006","volume":"56","author":"A Grushin","year":"2008","unstructured":"Grushin, A., & Reggia, J. A. (2008). Automated design of distributed control rules for the self-assembly of prespecified artificial structures. Robotics and Autonomous Systems, 56(4), 334\u2013359.","journal-title":"Robotics and Autonomous Systems"},{"issue":"3","key":"163_CR27","first-page":"12:1","volume":"5","author":"A Grushin","year":"2010","unstructured":"Grushin, A., & Reggia, J\u00a0. A. (2010). Parsimonious rule generation for a nature-inspired approach to self-assembly. ACM Transactions on Autonomous and Adaptive Systems (TAAS), 5(3), 12:1\u201312:24.","journal-title":"ACM Transactions on Autonomous and Adaptive Systems (TAAS)"},{"issue":"3","key":"163_CR28","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1177\/1756829317695564","volume":"9","author":"K Guo","year":"2017","unstructured":"Guo, K., Qiu, Z., Meng, W., Xie, L., & Teo, R. (2017). Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments. International Journal of Micro Air Vehicles, 9(3), 169\u2013186.","journal-title":"International Journal of Micro Air Vehicles"},{"issue":"3","key":"163_CR29","doi-asserted-by":"publisher","first-page":"243","DOI":"10.1007\/s11721-017-0139-4","volume":"11","author":"B Haghighat","year":"2017","unstructured":"Haghighat, B., & Martinoli, A. (2017). Automatic synthesis of rulesets for programmable stochastic self-assembly of rotationally symmetric robotic modules. Swarm Intelligence, 11(3), 243\u2013270.","journal-title":"Swarm Intelligence"},{"key":"163_CR30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-74528-2","volume-title":"Swarm robotics: A formal approach","author":"H Hamann","year":"2018","unstructured":"Hamann, H. (2018). Swarm robotics: A formal approach. Berlin: Springer."},{"issue":"2","key":"163_CR31","first-page":"1","volume":"2","author":"AS Ismail","year":"2009","unstructured":"Ismail, A. S., Hasni, R., & Subramanian, K. (2009). Some applications of eulerian graphs. International Journal of Mathematical Science Education, 2(2), 1\u201310.","journal-title":"International Journal of Mathematical Science Education"},{"key":"163_CR32","unstructured":"Izzo, D., & Pettazzi, L. (2005). Equilibrium shaping: Distributed motion planning for satellite swarm. In Proceedings of the 8th international symposium on artificial intelligence, robotics and automation in space."},{"issue":"2","key":"163_CR33","doi-asserted-by":"publisher","first-page":"449","DOI":"10.2514\/1.22736","volume":"30","author":"D Izzo","year":"2007","unstructured":"Izzo, D., & Pettazzi, L. (2007). Autonomous and distributed motion planning for satellite swarm. Journal of Guidance, Control, and Dynamics, 30(2), 449\u2013459.","journal-title":"Journal of Guidance, Control, and Dynamics"},{"issue":"2","key":"163_CR34","doi-asserted-by":"publisher","first-page":"107","DOI":"10.1007\/s12065-014-0111-9","volume":"7","author":"D Izzo","year":"2014","unstructured":"Izzo, D., Sim\u00f5es, L. F., & de Croon, G. C. H. E. (2014). An evolutionary robotics approach for the distributed control of satellite formations. Evolutionary Intelligence, 7(2), 107\u2013118.","journal-title":"Evolutionary Intelligence"},{"issue":"4","key":"163_CR35","doi-asserted-by":"publisher","first-page":"693","DOI":"10.1109\/TRO.2007.900638","volume":"23","author":"M Ji","year":"2007","unstructured":"Ji, M., & Egerstedt, M. (2007). Distributed coordination control of multiagent systems while preserving connectedness. IEEE Transactions on Robotics, 23(4), 693\u2013703.","journal-title":"IEEE Transactions on Robotics"},{"issue":"1","key":"163_CR36","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1109\/JSYST.2010.2040225","volume":"4","author":"MA Joordens","year":"2010","unstructured":"Joordens, M. A., & Jamshidi, M. (2010). Consensus control for a system of underwater swarm robots. IEEE Systems Journal, 4(1), 65\u201373.","journal-title":"IEEE Systems Journal"},{"key":"163_CR37","unstructured":"Klavins, E. (2002). Automatic synthesis of controllers for distributed assembly and formation forming. In 2002 IEEE international conference on robotics and automation (ICRA) (Vol.\u00a03, pp. 3296\u20133302). Washington: IEEE Press."},{"issue":"4","key":"163_CR38","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1109\/MCS.2007.384126","volume":"27","author":"E Klavins","year":"2007","unstructured":"Klavins, E. (2007). Programmable self-assembly. IEEE Control Systems, 27(4), 43\u201356.","journal-title":"IEEE Control Systems"},{"key":"163_CR39","unstructured":"Koenig, N., & Howard, A. (2004). Design and use paradigms for Gazebo, an open-source multi-robot simulator. In 2004 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (vol.\u00a03, pp. 2149\u20132154). Washington: IEEE Press."},{"issue":"2","key":"163_CR40","doi-asserted-by":"publisher","first-page":"199","DOI":"10.1016\/j.robot.2011.10.005","volume":"60","author":"S Konur","year":"2012","unstructured":"Konur, S., Dixon, C., & Fisher, M. (2012). Analysing robot swarm behaviour via probabilistic model checking. Robotics and Autonomous Systems, 60(2), 199\u2013213.","journal-title":"Robotics and Autonomous Systems"},{"issue":"3","key":"163_CR41","doi-asserted-by":"publisher","first-page":"194","DOI":"10.1016\/j.robot.2005.09.006","volume":"53","author":"KN Krishnanand","year":"2005","unstructured":"Krishnanand, K. N., & Ghose, D. (2005). Formations of minimalist mobile robots using local-templates and spatially distributed interactions. Robotics and Autonomous Systems, 53(3), 194\u2013213.","journal-title":"Robotics and Autonomous Systems"},{"issue":"4","key":"163_CR42","doi-asserted-by":"publisher","first-page":"375","DOI":"10.1162\/106454601317297013","volume":"7","author":"K Lerman","year":"2001","unstructured":"Lerman, K., Galstyan, A., Martinoli, A., & Ijspeert, A. (2001). A macroscopic analytical model of collaboration in distributed robotic systems. Artificial Life, 7(4), 375\u2013393.","journal-title":"Artificial Life"},{"issue":"8","key":"163_CR43","doi-asserted-by":"publisher","first-page":"983","DOI":"10.1016\/S0031-2023(97)00122-2","volume":"31","author":"S Loncaric","year":"1998","unstructured":"Loncaric, S. (1998). A survey of shape analysis techniques. Pattern Recognition, 31(8), 983\u20131001.","journal-title":"Pattern Recognition"},{"key":"163_CR44","unstructured":"McGuire, K.\u00a0N., Coppola, M., de\u00a0Wagter, C., & de\u00a0Croon, G. C. H.\u00a0E. (2017). Towards autonomous navigation of multiple pocket-drones in real-world environments. In 2017 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 244\u2013249). Washington: IEEE Press."},{"key":"163_CR45","unstructured":"McGuire, K.\u00a0N., de\u00a0Croon, G. C. H.\u00a0E., de\u00a0Wagter, C., Remes, B., Tuyls, K., & Kappen, H. (2016). Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones. In 2016 IEEE international conference on robotics and automation (ICRA) (pp. 3255\u20133260). Washington: IEEE Press."},{"key":"163_CR46","doi-asserted-by":"publisher","DOI":"10.1515\/9781400835355","volume-title":"Graph theoretic methods in multiagent networks","author":"M Mesbahi","year":"2010","unstructured":"Mesbahi, M., & Egerstedt, M. (2010). Graph theoretic methods in multiagent networks (Vol. 33). Princeton: Princeton University Press."},{"key":"163_CR47","unstructured":"Meyer, J., Sendobry, A., Kohlbrecher, S., Klingauf, U., & von Stryk, O. (2012). Comprehensive simulation of quadrotor UAVs using ROS and Gazebo. In I. Noda, N. Ando, D. Brugali, & J. J. Kuffner (Eds.), J. Simulation, modeling, and programming for autonomous robots (pp. 400\u2013411). Berlin: Springer."},{"key":"163_CR48","doi-asserted-by":"crossref","first-page":"373","DOI":"10.7551\/mitpress\/3121.003.0064","volume-title":"From animals to animats 7: Proceedings of the seventh international conference on simulation of adaptive behavior, ICSAB","author":"J Nembrini","year":"2002","unstructured":"Nembrini, J., Winfield, A., & Melhuish, C. (2002). Minimalist coherent swarming of wireless networked autonomous mobile robots. In B. Hallam, D. Floreano, J. Hallam, G. Hayes, & J.-A. Meyer (Eds.), From animals to animats 7: Proceedings of the seventh international conference on simulation of adaptive behavior, ICSAB (pp. 373\u2013382). Cambridge, MA: MIT Press."},{"issue":"Supplement C","key":"163_CR49","doi-asserted-by":"publisher","first-page":"424","DOI":"10.1016\/j.automatica.2014.10.022","volume":"53","author":"K-K Oh","year":"2015","unstructured":"Oh, K.-K., Park, M.-C., & Ahn, H.-S. (2015). A survey of multi-agent formation control. Automatica, 53(Supplement C), 424\u2013440.","journal-title":"Automatica"},{"issue":"2","key":"163_CR50","doi-asserted-by":"publisher","first-page":"10788","DOI":"10.3182\/20080706-5-KR-1001.01829","volume":"41","author":"AR Pereira","year":"2008","unstructured":"Pereira, A. R., & Hsu, L. (2008). Adaptive formation control using artificial potentials for euler-lagrange agents. IFAC Proceedings Volumes, 41(2), 10788\u201310793.","journal-title":"IFAC Proceedings Volumes"},{"issue":"5","key":"163_CR51","doi-asserted-by":"publisher","first-page":"574","DOI":"10.1177\/0278364910399521","volume":"30","author":"A Prorok","year":"2011","unstructured":"Prorok, A., Correll, N., & Martinoli, A. (2011). Multi-level spatial modeling for stochastic distributed robotic systems. The International Journal of Robotics Research, 30(5), 574\u2013589.","journal-title":"The International Journal of Robotics Research"},{"issue":"2","key":"163_CR52","doi-asserted-by":"publisher","first-page":"151","DOI":"10.1109\/TMECH.2008.2011810","volume":"14","author":"J Pugh","year":"2009","unstructured":"Pugh, J., Raemy, X., Favre, C., Falconi, R., & Martinoli, A. (2009). A fast onboard relative positioning module for multirobot systems. IEEE\/ASME Transactions on Mechatronics, 14(2), 151\u2013162.","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"163_CR53","unstructured":"Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., et al. (2009) ROS: An open-source robot operating system. In ICRA workshop on open source software (Vol.\u00a03, p.\u00a05)."},{"issue":"1","key":"163_CR54","doi-asserted-by":"publisher","first-page":"162","DOI":"10.1137\/060674909","volume":"48","author":"A Rahmani","year":"2009","unstructured":"Rahmani, A., Ji, M., Mesbahi, M., & Egerstedt, M. (2009). Controllability of multi-agent systems from a graph-theoretic perspective. SIAM Journal on Control and Optimization, 48(1), 162\u2013186.","journal-title":"SIAM Journal on Control and Optimization"},{"issue":"1","key":"163_CR55","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1007\/s10514-012-9277-0","volume":"33","author":"JF Roberts","year":"2012","unstructured":"Roberts, J. F., Stirling, T., Zufferey, J. C., & Floreano, D. (2012). 3-D relative positioning sensor for indoor flying robots. Autonomous Robots, 33(1), 5\u201320.","journal-title":"Autonomous Robots"},{"key":"163_CR56","unstructured":"Roelofsen, S., Gillet, D., & Martinoli, A. (2015). Reciprocal collision avoidance for quadrotors using on-board visual detection. In 2015 IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 4810\u20134817). Washington: IEEE Press."},{"issue":"6198","key":"163_CR57","doi-asserted-by":"publisher","first-page":"795","DOI":"10.1126\/science.1254295","volume":"345","author":"M Rubenstein","year":"2014","unstructured":"Rubenstein, M., Cornejo, A., & Nagpal, R. (2014). Programmable self-assembly in a thousand-robot swarm. Science, 345(6198), 795\u2013799.","journal-title":"Science"},{"key":"163_CR58","doi-asserted-by":"publisher","first-page":"135","DOI":"10.1007\/978-1-84996-217-9_9","volume-title":"Game of life cellular automata","author":"E Sapin","year":"2010","unstructured":"Sapin, E. (2010). Gliders and glider guns discovery in cellular automata. In A. Adamatzky (Ed.), Game of life cellular automata (pp. 135\u2013165). London: Springer."},{"issue":"1","key":"163_CR59","doi-asserted-by":"publisher","first-page":"469","DOI":"10.1007\/s10846-016-0338-z","volume":"84","author":"M Saska","year":"2016","unstructured":"Saska, M., Von\u00e1sek, V., Chudoba, J., Thomas, J., Loianno, G., & Kumar, V. (2016). Swarm distribution and deployment for cooperative surveillance by micro-aerial vehicles. Journal of Intelligent & Robotic Systems, 84(1), 469\u2013492.","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"163_CR60","doi-asserted-by":"publisher","first-page":"280","DOI":"10.1007\/978-3-319-43488-9_25","volume-title":"From animals to animats 14: 14th international conference on simulation of adaptive behavior, SAB 2016, Aberystwyth, UK, August 23\u201326, 2016, Proceedings","author":"KYW Scheper","year":"2016","unstructured":"Scheper, K. Y. W., & de Croon, G. C. H. E. (2016). Abstraction as a mechanism to cross the reality gap in evolutionary robotics. In E. Tuci, A. Giagkos, M. Wilson, & J. Hallam (Eds.), From animals to animats 14: 14th international conference on simulation of adaptive behavior, SAB 2016, Aberystwyth, UK, August 23\u201326, 2016, Proceedings (pp. 280\u2013292). Cham: Springer."},{"key":"163_CR61","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/978-3-319-44427-7_1","volume-title":"Swarm intelligence","author":"N Shiell","year":"2016","unstructured":"Shiell, N., & Vardy, A. (2016). A bearing-only pattern formation algorithm for swarm robotics. In M. Dorigo, M. Birattari, X. Li, M. L\u00f3pez-Ib\u00e1\u00f1ez, K. Ohkura, C. Pinciroli, & T. St\u00fctzle (Eds.), Swarm intelligence (pp. 3\u201314). Cham: Springer."},{"issue":"25","key":"163_CR62","doi-asserted-by":"publisher","first-page":"eaau9178","DOI":"10.1126\/scirobotics.aau9178","volume":"3","author":"I Slavkov","year":"2018","unstructured":"Slavkov, I., Carrillo-Zapata, D., Carranza, N., Diego, X., Jansson, F., Kaandorp, J., et al. (2018). Morphogenesis in robot swarms. Science Robotics, 3(25), eaau9178.","journal-title":"Science Robotics"},{"issue":"1","key":"163_CR63","doi-asserted-by":"publisher","first-page":"79","DOI":"10.1007\/s10514-008-9107-6","volume":"26","author":"B Smith","year":"2009","unstructured":"Smith, B., Howard, A., McNew, J.-M., Wang, J., & Egerstedt, M. (2009). Multi-robot deployment and coordination with embedded graph grammars. Autonomous Robots, 26(1), 79\u201398.","journal-title":"Autonomous Robots"},{"issue":"5","key":"163_CR64","doi-asserted-by":"publisher","first-page":"1133","DOI":"10.1109\/TRO.2016.2593454","volume":"32","author":"P Stegagno","year":"2016","unstructured":"Stegagno, P., Cognetti, M., Oriolo, G., B\u00fclthoff, H. H., & Franchi, A. (2016). Ground and aerial mutual localization using anonymous relative-bearing measurements. IEEE Transactions on Robotics, 32(5), 1133\u20131151.","journal-title":"IEEE Transactions on Robotics"},{"key":"163_CR65","doi-asserted-by":"crossref","unstructured":"Tanner, H.\u00a0G. (2004). On the controllability of nearest neighbor interconnections. In 2004 43rd IEEE conference on decision and control (CDC) (Vol.\u00a03, pp. 2467\u20132472).","DOI":"10.1109\/CDC.2004.1428782"},{"key":"163_CR66","unstructured":"van der Helm, S., McGuire, K. N., Coppola, M., & de Croon, G. C. H. E. (2018). On-board range-based relative localization for micro aerial vehicles in indoor leader-follower flight. ArXiv Preprint. arXiv:1805.07171 ."},{"key":"163_CR67","volume-title":"Graph theory and complex networks: An introduction","author":"M Steen Van","year":"2010","unstructured":"Van Steen, M. (2010). Graph theory and complex networks: An introduction. Amsterdam: Maarten van Steen."},{"issue":"7\u20138","key":"163_CR68","doi-asserted-by":"publisher","first-page":"1392","DOI":"10.1016\/j.actaastro.2010.10.002","volume":"68","author":"CJM Verhoeven","year":"2011","unstructured":"Verhoeven, C. J. M., Bentum, M. J., Monna, G. L. E., Rotteveel, J., & Guo, J. (2011). On the origin of satellite swarms. Acta Astronautica, 68(7\u20138), 1392\u20131395.","journal-title":"Acta Astronautica"},{"issue":"3\u20134","key":"163_CR69","doi-asserted-by":"publisher","first-page":"463","DOI":"10.1177\/0278364907084984","volume":"27","author":"J Werfel","year":"2008","unstructured":"Werfel, J., & Nagpal, R. (2008). Three-dimensional construction with mobile robots and modular blocks. International Journal of Robotics Research, 27(3\u20134), 463\u2013479.","journal-title":"International Journal of Robotics Research"},{"issue":"6172","key":"163_CR70","doi-asserted-by":"publisher","first-page":"754","DOI":"10.1126\/science.1245842","volume":"343","author":"J Werfel","year":"2014","unstructured":"Werfel, J., Petersen, K., & Nagpal, R. (2014). Designing collective behavior in a termite-inspired robot construction team. Science, 343(6172), 754\u2013758.","journal-title":"Science"},{"key":"163_CR71","doi-asserted-by":"publisher","first-page":"573","DOI":"10.1007\/3-540-44811-X_65","volume-title":"Advances in Artificial Life","author":"J Wessnitzer","year":"2001","unstructured":"Wessnitzer, J., Adamatzky, A., & Melhuish, C. (2001). Towards self-organising structure formations: A decentralized approach. In J. Kelemen & P. Sos\u00edk (Eds.), Advances in Artificial Life (pp. 573\u2013581). Berlin: Springer."},{"issue":"4","key":"163_CR72","doi-asserted-by":"publisher","first-page":"39","DOI":"10.5772\/5769","volume":"2","author":"AF Winfield","year":"2005","unstructured":"Winfield, A. F., Sa, J., Fern\u00e1ndez-Gago, M., Dixon, C., & Fisher, M. (2005). On formal specification of emergent behaviours in swarm robotic systems. International Journal of Advanced Robotic Systems, 2(4), 39.","journal-title":"International Journal of Advanced Robotic Systems"},{"key":"163_CR73","doi-asserted-by":"publisher","first-page":"239","DOI":"10.1007\/978-3-642-33902-8_10","volume-title":"Morphogenetic engineering: Toward programmable complex systems","author":"AFT Winfield","year":"2012","unstructured":"Winfield, A. F. T., & Nembrini, J. (2012). Emergent swarm morphology control of wireless networked mobile robots. In R. Doursat, H. Sayama, & O. Michel (Eds.), Morphogenetic engineering: Toward programmable complex systems (pp. 239\u2013271). Berlin: Springer."},{"issue":"2","key":"163_CR74","doi-asserted-by":"publisher","first-page":"241","DOI":"10.1007\/s11721-008-0018-0","volume":"2","author":"AFT Winfield","year":"2008","unstructured":"Winfield, A. F. T., Liu, W., Nembrini, J., & Martinoli, A. (2008). Modelling a wireless connected swarm of mobile robots. Swarm Intelligence, 2(2), 241\u2013266.","journal-title":"Swarm Intelligence"},{"key":"163_CR75","doi-asserted-by":"publisher","first-page":"201","DOI":"10.1007\/978-3-319-03578-9_17","volume-title":"Structural information and communication complexity: 20th international colloquium, SIROCCO 2013, Ischia, Italy, July 1\u20133, 2013, Revised Selected Papers","author":"Y Yamauchi","year":"2013","unstructured":"Yamauchi, Y., & Yamashita, M. (2013). Pattern formation by mobile robots with limited visibility. In T. Moscibroda & A. A. Rescigno (Eds.), Structural information and communication complexity: 20th international colloquium, SIROCCO 2013, Ischia, Italy, July 1\u20133, 2013, Revised Selected Papers (pp. 201\u2013212). Cham: Springer."},{"key":"163_CR76","doi-asserted-by":"publisher","first-page":"137","DOI":"10.1007\/978-3-662-45174-8_10","volume-title":"Distributed Computing","author":"Y Yamauchi","year":"2014","unstructured":"Yamauchi, Y., & Yamashita, M. (2014). Randomized pattern formation algorithm for asynchronous oblivious mobile robots. In F. Kuhn (Ed.), Distributed Computing (pp. 137\u2013151). Berlin: Springer."}],"container-title":["Swarm Intelligence"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11721-019-00163-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11721-019-00163-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11721-019-00163-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,7,14]],"date-time":"2024-07-14T18:13:45Z","timestamp":1720980825000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11721-019-00163-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,2,11]]},"references-count":76,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2019,3]]}},"alternative-id":["163"],"URL":"https:\/\/doi.org\/10.1007\/s11721-019-00163-0","relation":{},"ISSN":["1935-3812","1935-3820"],"issn-type":[{"value":"1935-3812","type":"print"},{"value":"1935-3820","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,2,11]]},"assertion":[{"value":"1 May 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 January 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 February 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}