Gjondrekaj, Edmond and Loreti, Michele and Pugliese, Rosario and Tiezzi, Francesco and Pinciroli, Carlo and Brambilla, Manuele and Birattari, Mauro and Dorigo, Marco Towards a Formal Verification Methodology for Collective Robotic Systems. In: Formal Methods and Software Engineering. Lecture Notes in Computer Science (7635). Springer, pp. 54-70. ISBN 978-3-642-34280-6 (2012)