A modular functional framework for the design and evaluation of multi-robot navigation. - Cyrill Baumann; Alcherio Martinoli (Robotics Auton. Syst., 2021)

A Noise-Resistant Mixed-Discrete Particle Swarm Optimization Algorithm for the Automatic Design of Robotic Controllers. - Cyrill Baumann; Alcherio Martinoli (CEC, 2022)

Hybrid Flock - Formation Control Algorithms. - Cyrill Baumann; Jonas Perolini; Emna Tourki; Alcherio Martinoli (DARS, 2022)

Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers. - Cyrill Baumann; Hugo Birch; Alcherio Martinoli (IROS, 2022)

Spatial microscopic modeling of collective movements in multi-robot systems: Design choices and calibration. - Cyrill Baumann; Alcherio Martinoli (Frontiers Robotics AI, 2022)