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Bonabeau, E., Dorigo, M., & Theraulaz, G. (1999-10-21). Cooperative Transport by Insects and Robots. In Swarm Intelligence: From Natural to Artificial Systems. : Oxford University Press. Retrieved 4 Aug. 2021, from https://oxford.universitypressscholarship.com/view/10.1093/oso/9780195131581.001.0001/isbn-9780195131581-book-part-11.