Biological Insights Into Robotics: Honeybee Foraging Behavior by a Waggle Dance. - Ryuichi Okada; Hidetoshi Ikeno; Hitoshi Aonuma; Etsuro Ito (Adv. Robotics, 2008)

Honey Bee Waggle Dance as a Model of Swarm Intelligence. - Ryuichi Okada; Hidetoshi Ikeno; Hitoshi Aonuma; Midori Sakura; Etsuro Ito (J. Robotics Mechatronics, 2023)