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Winfield, A. F., Harper, C. and Nembrini, J. (2004) Towards dependable swarms and new discipline of swarm engineering. In: Swarm Robotics, SAB 2004 International Workshop, Revised Selected Papers, Santa Monica, CA, USA, 17th July, 2004., pp. 126-142 Available from: http://eprints.uwe.ac.uk/5908
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