Model checking emerging behavior properties of robot swarms

Juurik, S., Vain, J. Model checking emerging behavior properties of robot swarms // 21st Nordic Workshop on Programming Theory : NWPT 2009 : Lyngby, Denmark, 14-16 October 2009 : proceedings. Lyngby : Technical University of Denmark, 2009. p. 68-70. https://www.researchgate.net/publication/228525009_Model_checking_of_emergent_behaviour_properties_of_robot_swarms