@Article{  valentini16a,
  author = 	 {Gabriele Valentini and Eliseo Ferrante and Heiko Hamann and Marco Dorigo},
  title = 	 {Collective Decision with 100 {K}ilobots: Speed versus Accuracy in Binary Discrimination Problems},
  journal = 	 {Journal of Autonomous Agents and Multi-Agent Systems},
  year = 	 {2016},
  volume = 	 {30},
  number = 	 {3},
  pages = 	 {553-580},
  url =          {http://dx.doi.org/10.1007/s10458-015-9323-3}
}