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Wilson, M., Melhuish, C., Sendova-Franks, A. B. and Scholes, S. (2006) Algorithms for building annular structures with minimalist robots inspired by brood sorting in ant colonies. Autonomous Robots, 17 (2). pp. 115-136. ISSN 0929-5593 Available from: http://eprints.uwe.ac.uk/5895
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