Self-organized Task Partitioning in a Swarm of Robots. - Marco Frison; Nam-Luc Tran; Nadir Baiboun; Arne Brutschy; Giovanni Pini; Andrea Roli; Marco Dorigo; Mauro Birattari (ANTS Conference, 2010)

Costs and Benefits of Behavioral Specialization. - Arne Brutschy; Nam-Luc Tran; Nadir Baiboun; Marco Frison; Giovanni Pini; Andrea Roli; Marco Dorigo; Mauro Birattari (TAROS, 2011)

Task partitioning in swarms of robots: an adaptive method for strategy selection. - Giovanni Pini; Arne Brutschy; Marco Frison; Andrea Roli; Marco Dorigo; Mauro Birattari (Swarm Intell., 2011)