Towards Building Terrain-Covering Ant Robots. - Jonas Svennebring; Sven Koenig (Ant Algorithms, 2002)

Trail-Laying Robots for Robust Terrain Coverage. - Jonas Svennebring; Sven Koenig (ICRA, 2003)

Building Terrain-Covering Ant Robots: A Feasibility Study. - Jonas Svennebring; Sven Koenig (Auton. Robots, 2004)