Organizational learning model for adaptive collective behaviors in multiple robots. - Keiki Takadama; Koichiro Hajiri; Tatsuya Nomura; Katsunori Shimohara; Shinichi Nakasuka (Adv. Robotics, 1997)

Learning model for adaptive behaviors as an organized group of swarm robots. - Keiki Takadama; Koichiro Hajiri; Tatsuya Nomura; Katsunori Shimohara; Michio Okada; Shinichi Nakasuka (Artif. Life Robotics, 1998)

Grammatical Learning Model for Adaptive Collective Behaviors in Multiple Robots. - Keiki Takadama; Koichiro Hajiri; Tatsuya Nomura; Katsunori Shimohara; Shinichi Nakasuka (Grammatical Models of Multi-Agent Systems, 1999)