Communication in a Swarm of Miniature Robots: The e-Puck as an Educational Tool for Swarm Robotics. - Christopher M. Cianci; Xavier Raemy; Jim Pugh; Alcherio Martinoli (Swarm Robotics, 2006)

A comparison of casting and spiraling algorithms for odor source localization in laminar flow. - Thomas Lochmatter; Xavier Raemy; Loïc Matthey; Saurabh Indra; Alcherio Martinoli (ICRA, 2008)