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Self-organisation in Biological Systems, , and . Princeton university press, (2001)The dynamics of collective sorting robot-like ants and ant-like robots, , , , , and . Proceedings of the first international conference on simulation of adaptive behavior on From animals to animats, page 356--363. Cambridge, USA, MIT Press, (1991)Individual and collective decision-making during nest site selection by the ant Leptothorax albipennis, , and . Behavioral Ecology and Sociobiology, 50 (4): 352-359 (2001)Self-organization in biological systems, , , , , and . Princton University Press, (2001)Self-Organization in Biological Systems, , , , , and . Princeton University Press, (2001)