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Dixon, C., Winfield, A. F., Fisher, M. and Zeng, C. (2012) Towards temporal verification of swarm robotic systems. Robotics and Autonomous Systems, 60 (11). pp. 1429-1441. ISSN 0921-8890 Available from:

Winfield, A. F., Sa, J., Fernandez-Gago, M.-C., Dixon, C. and Fisher, M. (2005) On formal specification of emergent behaviours in swarm robotic systems. International Journal of Advanced Robotic Systems, 2 (4). pp. 363-370. ISSN 1729-8806 Available from:

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