Swarmanoid: A Novel Concept for the Study of Heterogeneous Robotic Swarms. - Marco Dorigo; Dario Floreano; Luca Maria Gambardella; Francesco Mondada; Stefano Nolfi; Tarek Baaboura; Mauro Birattari; Michael Bonani; Manuele Brambilla; Arne Brutschy; Daniel Burnier; Alexandre Campo; et al. (IEEE Robotics Autom. Mag., 2013)