    @article {Winfield2005,
	title = {On the Formal Specification of Emergent Behaviours of Swarm Robotics Systems},
	journal = {International Journal of Advanced Robotics Systems},
	volume = {2},
	year = {2005},
	pages = {363-371},
	publisher = {SAGE Publishing},
	abstract = {<p>It is a characteristic of swarm robotics that specifying overall emergent swarm behaviours in terms of the low-level behaviours of individual robots is very difficult. Yet if swarm robotics is to make the transition from the laboratory to real-world engineering realisation we need such specifications. This paper explores the use of temporal logic to formally specify, and possibly also prove, the emergent behaviours of a robotic swarm. The paper makes use of a simplified wireless connected swarm as a case study with which to illustrate the approach. Such a formal approach could be an important step toward a disciplined design methodology for swarm robotics.</p>
},
	keywords = {Swarm Robotics, temporal resolution},
	issn = {1729-8806},
	doi = {dx.doi.org/10.5772/5769},
	author = {Alan Winfield and Jin Sa and Carmen Fernandez-Gago and Clare Dixon and Michale Fisher}
}
