Using scouts to predict swarm success rate. - Antons Rebguns; Richard Anderson-Sprecher; Diana F. Spears; William M. Spears; Aleksey Kletsov (SIS, 2008)

A Theoretical Framework for Estimating Swarm Success Probability Using Scouts. - Antons Rebguns; Diana F. Spears; Richard Anderson-Sprecher; Aleksey Kletsov (Int. J. Swarm Intell. Res., 2010)