#a full conference paper summarising the pheromone system
@inproceedings{pheromone_2015_iros,
	Author = {Farshad Arvin and Tom{\'a}{\vs} Krajn{\'i}k and Ali Emre Turgut and Shigang Yue},
	Booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
	Title = {{COS}\textbf{$\Phi$}: A Novel Artificial Pheromone Communication System for Swarm Robotic Applications},
	Year = {2015}
}