Publications

@article{CNRPRODOTTI464851,
title = {Adaptive Strategies for Team Formation in Minimalist Robot Swarms},
author = { L. Feola and V. Trianni},
url = {https://ieeexplore.ieee.org/abstract/document/9712212},
doi = {10.1109/LRA.2022.3150479},
year = {2022},
date = {2022-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {7},
pages = {4079--4085},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{CNRPRODOTTI477488,
title = {Emergent naming conventions in a foraging robot swarm},
author = { Roman Miletitch and Andreagiovanni Reina and Marco Dorigo and Vito Trianni},
doi = {10.1007/s11721-022-00212-1},
year = {2022},
date = {2022-01-01},
journal = {Swarm intelligence},
volume = {16},
pages = {211--232},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@inproceedings{CNRPRODOTTI477489,
title = {Best-of-N Collective Decisions on a Hierarchy},
author = { Fabio Oddi and Andrea Cristofaro and Vito Trianni},
url = {https://link.springer.com/chapter/10.1007/978-3-031-20176-9_6},
doi = {10.1007/978-3-031-20176-9_6},
year = {2022},
date = {2022-01-01},
booktitle = {Swarm Intelligence. 13th International Conference, ANTS 2022, Málaga, Spain, November 2-4, 2022, Proceedings},
pages = {66--78},
publisher = {Springer, Cham},
series = {Lecture notes in computer science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{CNRPRODOTTI464849,
title = {Monitoring and Mapping of Crop Fields with UAV Swarms Based on Information Gain},
author = { C. Carbone and D. Albani and F. Magistri and D. Ognibene and C. Stachniss and G. Kootstra and D. Nardi and V. Trianni},
doi = {10.1007/978-3-030-92790-5_24},
year = {2022},
date = {2022-01-01},
booktitle = {Distributed Autonomous Robotic Systems},
pages = {306--319},
publisher = {Springer, Cham},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{Albani_2021,
title = {Hierarchical Task Assignment and Path Finding with Limited Communication for Robot Swarms},
author = {Dario Albani and Wolfgang Hönig and Daniele Nardi and Nora Ayanian and Vito Trianni},
url = {https://www.mdpi.com/2076-3417/11/7/3115},
doi = {10.3390/app11073115},
year = {2021},
date = {2021-03-31},
journal = {Applied Sciences},
volume = {11},
number = {7},
pages = {3115},
publisher = {MDPI AG},
abstract = {Complex service robotics scenarios entail unpredictable task appearance both in space and time. This requires robots to continuously relocate and imposes a trade-off between motion costs and efficiency in task execution. In such scenarios, multi-robot systems and even swarms of robots can be exploited to service different areas in parallel. An efficient deployment needs to continuously determine the best allocation according to the actual service needs, while also taking relocation costs into account when such allocation must be modified. For large scale problems, centrally predicting optimal allocations and movement paths for each robot quickly becomes infeasible. Instead, decentralized solutions are needed that allow the robotic system to self-organize and adaptively respond to the task demands. In this paper, we propose a distributed and asynchronous approach to simultaneous task assignment and path planning for robot swarms, which combines a bio-inspired collective decision-making process for the allocation of robots to areas to be serviced, and a search-based path planning approach for the actual routing of robots towards tasks to be executed. Task allocation exploits a hierarchical representation of the workspace, supporting the robot deployment to the areas that mostly require service. We investigate four realistic environments of increasing complexity, where each task requires a robot to reach a location and work for a specific amount of time. The proposed approach improves over two different baseline algorithms in specific settings with statistical significance, while showing consistently good results overall. Moreover, the proposed solution is robust to limited communication and robot failures.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{CNRPRODOTTI464838,
title = {Cultural evolution of probabilistic aggregation in synthetic swarms},
author = { N. Cambier and D. Albani and V. Frémont and V. Trianni and E. Ferrante},
url = {https://www.sciencedirect.com/science/article/pii/S1568494621009327?via%3Dihub},
doi = {10.1016/j.asoc.2021.108010},
year = {2021},
date = {2021-01-01},
journal = {Applied soft computing (Online)},
volume = {113},
pages = {108010},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{CNRPRODOTTI464835,
title = {Swarm robotics: Past, present, and future},
author = { M. Dorigo and G. Theraulaz and V. Trianni},
doi = {10.1109/JPROC.2021.3072740},
year = {2021},
date = {2021-01-01},
journal = {Proceedings of the IEEE},
volume = {109},
pages = {1152--1165},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Gershenson-etal:2020,
title = {Self-Organization and Artificial Life},
author = { Carlos Gershenson and Vito Trianni and Justin Werfel and Hiroki Sayama},
year = {2020},
date = {2020-01-01},
journal = {Artificial Life},
volume = {26},
number = {3},
pages = {391-408},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{CambierEtal:2020,
title = {Language Evolution in Swarm Robotics: A Perspective},
author = { Nicolas Cambier and Roman Miletitch and Vincent Fr'emont and Marco Dorigo and Eliseo Ferrante and Vito Trianni},
year = {2020},
date = {2020-01-01},
journal = {Frontiers in Robotics and AI},
volume = {7},
pages = {12},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{10.3389/frobt.2020.597859,
title = {Editorial: Designing Self-Organization in the Physical Realm},
author = { Heiko Hamann and Melanie Schranz and Wilfried Elmenreich and Vito Trianni and Carlo Pinciroli and Nicolas Bredeche and Eliseo Ferrante},
doi = {10.3389/frobt.2020.597859},
year = {2020},
date = {2020-01-01},
journal = {Frontiers in Robotics and AI},
volume = {7},
pages = {597859},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{10.1098/rsif.2020.0635,
title = {Signalling boosts the evolution of cooperation in repeated group interactions},
author = { Luis A. Martinez-Vaquero and Francisco C. Santos and Vito Trianni},
doi = {10.1098/rsif.2020.0635},
issn = {1742-5689},
year = {2020},
date = {2020-01-01},
journal = {Journal of the Royal Society Interface},
volume = {17},
number = {172},
pages = {20200635},
abstract = {Many biological and social systems show significant levels of collective action. Several cooperation mechanisms have been proposed, yet they have been mostly studied independently. Among these, direct reciprocity supports cooperation on the basis of repeated interactions among individuals. Signals and quorum dynamics may also drive cooperation. Here, we resort to an evolutionary game-theoretical model to jointly analyse these two mechanisms and study the conditions in which evolution selects for direct reciprocity, signalling, or their combination. We show that signalling alone leads to higher levels of cooperation than when combined with reciprocity, while offering additional robustness against errors. Specifically, successful strategies in the realm of direct reciprocity are often not selected in the presence of signalling, and memory of past interactions is only exploited opportunistically in the case of earlier coordination failure. Differently, signalling always evolves, even when costly. In the light of these results, it may be easier to understand why direct reciprocity has been observed only in a limited number of cases among non-humans, whereas signalling is widespread at all levels of complexity.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{10.1126/scirobotics.abe4385,
title = {Reflections on the future of swarm robotics},
author = { Marco Dorigo and Guy Theraulaz and Vito Trianni},
url = {http://laral.istc.cnr.it/trianni/wp-content/uploads/2020/12/swarm-robotics-focus-revision-new.docx.pdf},
doi = {10.1126/scirobotics.abe4385},
year = {2020},
date = {2020-01-01},
journal = {Science Robotics},
volume = {5},
number = {49},
pages = {eabe4385},
abstract = {Swarm robotics will tackle real-world applications by leveraging automatic design, heterogeneity, and hierarchical self-organization.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@book{Tuci-EtAl:2020,
title = {Novel Technological and Methodological Tools for the Understanding of Collective Behaviors},
author = { Tuci, Elio and Trianni, Vito and Garnier, Simon and King, Andrew J.},
doi = {10.3389/978-2-88963-424-8},
year = {2020},
date = {2020-01-01},
publisher = {Frontiers Media SA, Lausanne, Switzerland},
keywords = {},
pubstate = {published},
tppubtype = {book}
}

@inproceedings{10.1007/978-3-030-60376-2_16,
title = {Motion Dynamics of Foragers in Honey Bee Colonies},
author = { Fernando Wario and Benjamin Wild and David Dormagen and Tim Landgraf and Vito Trianni},
editor = {Marco Dorigo, Thomas Stützle, Maria J. Blesa, Christian Blum, Heiko Hamann, Mary Katherine Heinrich, Volker Strobel},
doi = {10.1007/978-3-030-60376-2_16},
issn = {0302-9743},
year = {2020},
date = {2020-10-01},
booktitle = {Swarm Intelligence, 12th International Conference, ANTS 2020, Barcelona, Spain, October 26–28, 2020, Proceedings},
pages = {203--215},
publisher = {Springer-Verlag, Berlin, Germany},
abstract = {Information transfer among foragers is key for efficient allocation of work and adaptive responses within a honey bee colony. For information to spread quickly, foragers trying to recruit nestmates via the waggle dance (dancers) must reach as many other non-dancing foragers (followers) as possible. Forager bees may have different drives that influence their motion patterns. For instance, dancer bees need to widely cover the dance floor to recruit nestmates, the more broadly, the higher the food source profitability. Followers may instead move more erratically in the hope of meeting a dance. Overall, a good mixing of individuals is necessary to have flexibility at the level of the colony behavior and optimally respond to changing environmental conditions. We aim to determine the motion pattern that precedes communication events, exploiting a data-driven computational model. To this end, real observation data are used to define nest features such as the dance floor location, shape and size, as well as the foragers’ population size and density distribution. All these characteristics highly correlate with the bees walking pattern and determine the efficiency of information transfer among bees. A simulation environment is deployed to test different mobility patterns and evaluate the adherence with available real-world data. Additionally, we determine under what conditions information transfer is most efficient and effective. Owing to the simulation results, we identify the most plausible mobility pattern to represent the available observations.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{10.1007/978-3-030-63007-2_9,
title = {Collective Decision-Making as a Contextual Multi-armed Bandit Problem},
author = { Axel Abels and Tom Lenaerts and Vito Trianni and Ann Nowé},
year = {2020},
date = {2020-01-01},
pages = {113--124},
publisher = {Springer International Publishing},
address = {Cham},
abstract = {Collective decision-making (CDM) processes – wherein the knowledge of a group of individuals with a common goal must be combined to make optimal decisions – can be formalized within the framework of the deciding with expert advice setting. Traditional approaches to tackle this problem focus on finding appropriate weights for the individuals in the group. In contrast, we propose here meta-CMAB, a meta approach that learns a mapping from expert advice to expected outcomes. In summary, our work reveals that, when trying to make the best choice in a problem with multiple alternatives, meta-CMAB assures that the collective knowledge of experts leads to the best outcome without the need for accurate confidence estimates.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{10.1007/978-3-030-63007-2_10,
title = {How Expert Confidence Can Improve Collective Decision-Making in Contextual Multi-Armed Bandit Problems},
author = { Axel Abels and Tom Lenaerts and Vito Trianni and Ann Nowé},
year = {2020},
date = {2020-01-01},
pages = {125--138},
publisher = {Springer International Publishing},
address = {Cham},
abstract = {In collective decision-making (CDM) a group of experts with a shared set of values and a common goal must combine their knowledge to make a collectively optimal decision. Whereas existing research on CDM primarily focuses on making binary decisions, we focus here on CDM applied to solving contextual multi-armed bandit (CMAB) problems, where the goal is to exploit contextual information to select the best arm among a set. To address the limiting assumptions of prior work, we introduce confidence estimates and propose a novel approach to deciding with expert advice which can take advantage of these estimates. We further show that, when confidence estimates are imperfect, the proposed approach is more robust than the classical confidence-weighted majority vote.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{Dorigo2019:ANTS,
title = {ANTS 2018 special issue: Editorial},
author = {Dorigo, Marco and Birattari, Mauro and Blum, Christian and Christensen, Anders L. and Reina, Andreagiovanni and Trianni, Vito},
year = {2019},
date = {2019-12-01},
journal = {Swarm Intelligence},
volume = {13},
number = {3},
pages = {169--172},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Vitanza:2019hj,
title = {Robot swarms as an educational tool: The Thymiotextquoterights way},
author = { Alessandra Vitanza and Paolo Rossetti and Francesco Mondada and Vito Trianni},
year = {2019},
date = {2019-01-01},
journal = {International Journal of Advanced Robotic Systems},
volume = {16},
number = {1},
pages = {172988141882518--13},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{MartinezVaquero:2019is,
title = {Evolutionary dynamics of organised crime and terrorist networks},
author = { Luis A Martinez-Vaquero and Valerio Dolci and Vito Trianni},
url = {https://www.nature.com/articles/s41598-019-46141-8},
year = {2019},
date = {2019-01-01},
journal = {Scientific Reports},
pages = {1--10},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{TuciEtAl:2019Frontiers,
title = {Editorial: Novel Technological and Methodological Tools for the Understanding of Collective Behaviors},
author = {Tuci, Elio and Trianni, Vito and King, Andrew and Garnier, Simon},
year = {2019},
date = {2019-01-01},
journal = {Frontiers in Robotics and AI},
volume = {6},
pages = {139},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@inproceedings{AlbaniEtAl:BICT2019,
title = {Field coverage for weed mapping: toward experiments with a UAV swarm},
author = { Dario Albani and Tiziano Manoni and Arikhan Arik and Daniele Nardi and Vito Trianni},
url = {http://laral.istc.cnr.it/trianni/wp-content/uploads/2019/05/BICT2019.pdf},
year = {2019},
date = {2019-03-01},
booktitle = {Proceedings of the 11th EAI International Conference on Bio-inspired Information and Communications Technologies (BICT 2019)},
pages = {1--16},
address = {Pittsburg, US},
organization = {EAI},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Albani:2019wl,
title = {Summary: Distributed Task Assignment and Path Planning with Limited Communication for Robot Teams},
author = { Dario Albani and Wolfgang H"onig and Nora Ayanian and Daniele Nardi and Vito Trianni},
year = {2019},
date = {2019-01-01},
booktitle = {Proceedings of the th International Conference on Autonomous Agents and MultiAgent Systems},
pages = {1770--1772},
publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
address = {Montreal QC, Canada},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{magistri-etal:2019imav,
title = {Using prior information to improve crop/weed classification by MAV swarms},
author = {Magistri, Federico and Nardi, Daniele and Trianni, Vito},
url = {http://www.imavs.org/papers/2019/41732.pdf},
year = {2019},
date = {2019-01-01},
booktitle = {Proceedings of the 11th international Micro Air Vehicle competition and conference, Madrid, Spain},
pages = {67--75},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{Valentini2018,
title = {Kilogrid: a novel experimental environment for the Kilobot robot},
author = { Gabriele Valentini and Anthony Antoun and Marco Trabattoni and Bern'at Wiandt and Yasumasa Tamura and Etienne Hocquard and Vito Trianni and Marco Dorigo},
url = {https://doi.org/10.1007/s11721-018-0155-z},
doi = {10.1007/s11721-018-0155-z},
issn = {1935-3820},
year = {2018},
date = {2018-01-27},
journal = {Swarm Intelligence},
abstract = {We present the Kilogrid, an open-source virtualization environment and data logging manager for the Kilobot robot, Kilobot for short. The Kilogrid has been designed to extend the sensory-motor abilities of the Kilobot, to simplify the task of collecting data during experiments, and to provide researchers with a tool to fine-control the experimental setup and its parameters. Based on the design of the Kilobot and compatible with existing hardware, the Kilogrid is a modular system composed of a grid of computing nodes, or modules that provides a bidirectional communication channel between the Kilobots and a remote workstation. In this paper, we describe the hardware and software architecture of the Kilogrid system as well as its functioning to accompany its release as a new open hardware tool for the swarm robotics community. We demonstrate the capabilities of the Kilogrid using a 200-module Kilogrid, swarms of up to 100 Kilobots, and four different case studies: exploration and obstacle avoidance, site selection based on multiple gradients, plant watering, and pheromone-based foraging. Through this set of case studies, we show how the Kilogrid allows the experimenter to virtualize sensors and actuators not available to the Kilobot and to automatize the collection of data essential for the analysis of the experiments.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Reina:2018hcb,
title = {Psychophysical Laws and the Superorganism},
author = { Andreagiovanni Reina and Thomas Bose and Vito Trianni and James A R Marshall},
url = {https://www.nature.com/articles/s41598-018-22616-y},
doi = {10.1038/s41598-018-22616-y},
year = {2018},
date = {2018-01-01},
journal = {Scientific Reports},
volume = {8},
number = {1},
pages = {4387--8},
abstract = {Through theoretical analysis, we show how a superorganism may react to stimulus variations according to psychophysical laws observed in humans and other animals. We investigate an empirically-motivated honeybee house-hunting model, which describes a value-sensitive decision process over potential nest-sites, at the level of the colony. In this study, we show how colony decision time increases with
the number of available nests, in agreement with the Hick-Hyman law of psychophysics, and decreases with mean nest quality, in agreement with Piéron’s law. We also show that colony error rate depends on mean nest quality, and di erence in quality, in agreement with Weber’s law. Psychophysical laws, particularly Weber’s law, have been found in diverse species, including unicellular organisms. Our theoretical results predict that superorganisms may also exhibit such behaviour, suggesting that these laws arise from fundamental mechanisms of information processing and decision-making. Finally, we propose a combined psychophysical law which uni es Hick-Hyman’s law and Piéron’s law, traditionally studied independently; this uni ed law makes predictions that can be empirically tested.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Miletitch:2018kx,
title = {Balancing exploitation of renewable resources by a robot swarm},
author = { Roman Miletitch and Marco Dorigo and Vito Trianni},
year = {2018},
date = {2018-01-01},
journal = {Swarm Intelligence},
volume = {86},
number = {11},
pages = {3078--20},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Caleffi:2018TWC,
title = {Self-Organizing Strategy Design for Heterogeneous Coexistence in the Sub-6 GHz},
author = { Marcello Caleffi and Vito Trianni and Angela Sara Cacciapuoti},
year = {2018},
date = {2018-01-01},
journal = {IEEE Transactions on Wireless Communications},
volume = {17},
number = {11},
pages = {7128-7143},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Albani:2018ercim,
title = {Drone Swarms in the Field},
author = { Dario Albani and Vito Trianni},
year = {2018},
date = {2018-01-01},
journal = {ERCIM News},
volume = {113},
pages = {31--32},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@book{ANTS2018,
title = {Swarm Intelligence. 11th International Conference, ANTS 2018, Rome, Italy, October 29–31, 2018, Proceedings},
author = { Marco Dorigo and Mauro Birattari and Christian Blum and Anders L. Christensen and Andreagiovanni Reina and Vito Trianni},
year = {2018},
date = {2018-01-01},
volume = {11172},
publisher = {Springer, Cham, Switzerland},
series = {LNCS},
keywords = {},
pubstate = {published},
tppubtype = {book}
}

@incollection{Reina:2016wr,
title = {Effects of Spatiality on Value-Sensitive Decisions Made by Robot Swarms},
author = { Andreagiovanni Reina and Thomas Bose and Vito Trianni and James A R Marshall},
editor = {Gross, Roderich and Kolling, Andreas and Berman, Spring and Frazzoli, Emilio and Martinoli, Alcherio and Matsuno, Fumitoshi and Gauci, Melvin},
url = {http://laral.istc.cnr.it/trianni/wp-content/uploads/2016/11/reina-DARS2016.pdf},
doi = {10.1007/978-3-319-73008-0_32},
year = {2018},
date = {2018-01-01},
booktitle = {Distributed Autonomous Robotic Systems: The 13th International Symposium},
pages = {461--473},
publisher = {Springer International Publishing},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}

@inproceedings{Albani:2018aamas,
title = {Dynamic UAV Swarm Deployment for Non-Uniform Coverage},
author = { Dario Albani and Tiziano Manoni and Daniele Nardi and Vito Trianni},
year = {2018},
date = {2018-01-01},
booktitle = {AAMAS '18: Proceedings of the 2018 International Conference on Autonomous Agents and Multiagent Systems},
pages = {1-9},
note = {to appear},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{10.1007/978-3-030-00533-7_14,
title = {Simulating Kilobots Within ARGoS: Models and Experimental Validation},
author = { Carlo Pinciroli and Mohamed S Talamali and Andreagiovanni Reina and James A R Marshall and Vito Trianni},
editor = {Dorigo, Marco and Birattari, Mauro and Blum, Christian and Christensen, Anders L and Reina, Andreagiovanni and Trianni, Vito},
year = {2018},
date = {2018-01-01},
booktitle = {Swarm Intelligence},
pages = {176--187},
publisher = {Springer International Publishing},
address = {Cham},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{10.1007/978-3-030-00533-7_29,
title = {Embodied Evolution of Self-organised Aggregation by Cultural Propagation},
author = { Nicolas Cambier and Vincent Fr'emont and Vito Trianni and Eliseo Ferrante},
editor = {Dorigo, Marco and Birattari, Mauro and Blum, Christian and Christensen, Anders L and Reina, Andreagiovanni and Trianni, Vito},
year = {2018},
date = {2018-01-01},
booktitle = {Swarm Intelligence},
pages = {351--359},
publisher = {Springer International Publishing},
address = {Cham},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Gershenson:2018iy,
title = {Self-Organization and Artificial Life: A Review},
author = { Carlos Gershenson and Vito Trianni and Justin Werfel and Hiroki Sayama},
year = {2018},
date = {2018-01-01},
booktitle = {The 2018 Conference on Artificial Life},
pages = {510--517},
publisher = {MIT Press},
address = {Cambridge, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{PhysRevE.95.052411,
title = {Model of the best-of-N nest-site selection process in honeybees},
author = { Andreagiovanni Reina and James A. R. Marshall and Vito Trianni and Thomas Bose},
url = {https://link.aps.org/doi/10.1103/PhysRevE.95.052411},
doi = {10.1103/PhysRevE.95.052411},
year = {2017},
date = {2017-05-01},
journal = {Phys. Rev. E},
volume = {95},
pages = {052411},
publisher = {American Physical Society},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@inproceedings{Albani:2017cb,
title = {Field coverage and weed mapping by UAV swarms},
author = { Dario Albani and Daniele Nardi and Vito Trianni},
url = {http://laral.istc.cnr.it/trianni/wp-content/uploads/2018/02/albani-iros2017.pdf},
doi = {10.1109/IROS.2017.8206296},
year = {2017},
date = {2017-01-01},
booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS},
pages = {4319--4325},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Albani:2017tp,
title = {Monitoring and mapping with robot swarms for agricultural applications},
author = { Dario Albani and Joris IJsselmuiden and Ramon Haken and Vito Trianni},
url = {http://laral.istc.cnr.it/trianni/wp-content/uploads/2018/02/ITEMS2017-ID11.pdf},
doi = {10.1109/AVSS.2017.8078478},
year = {2017},
date = {2017-01-01},
booktitle = {2017 14th IEEE International Conference on Advanced Video and Signal Based Surveillance (AVSS)},
pages = {1--6},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{Trianni:2016fp,
title = {Emergence of Consensus in a Multi-Robot Network: From Abstract Models to Empirical Validation},
author = { Vito Trianni and Daniele {De Simone} and Andreagiovanni Reina and Andrea Baronchelli},
url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7386604},
year = {2016},
date = {2016-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {1},
number = {1},
pages = {348--353},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@inproceedings{Trianni:2016da,
title = {Distributed design for fair coexistence in TVWS},
author = { V. Trianni and A. S. Cacciapuoti and M. Caleffi},
url = {http://laral.istc.cnr.it/trianni/wp-content/uploads/2016/07/E1042F9E-01BB-45C2-820E-453BD3E53846.pdf},
doi = {10.1109/ICC.2016.7511107},
year = {2016},
date = {2016-07-19},
booktitle = {2016 IEEE International Conference on Communications (ICC)},
pages = {1--6},
publisher = {IEEE Press},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{dimidov16:_random,
title = {Random walks in swarm robotics: an experiment with Kilobots},
author = {Cristina Dimidov and Giuseppe Oriolo and Vito Trianni},
url = {http://link.springer.com/chapter/10.1007/978-3-319-44427-7_16},
year = {2016},
date = {2016-01-01},
booktitle = {Proceedings of the 10th International Conference on Swarm Intelligence (ANTS 2016)},
volume = {9882},
pages = {185--196},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Computer Sciences},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Antoun:2016gz,
title = {Kilogrid: A modular virtualization environment for the Kilobot robot},
author = { Anthony Antoun and Gabriele Valentini and Etienne Hocquard and Bern t Wiandt and Vito Trianni and Marco Dorigo},
url = {http://ieeexplore.ieee.org/abstract/document/7759560/},
year = {2016},
date = {2016-01-01},
booktitle = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS},
pages = {3809--3814},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{Reina:2015gs,
title = {A quantitative micro-macro link for collective decisions: the shortest path discovery/selection example},
author = { A. Reina and R. Miletitch and M. Dorigo and V. Trianni},
doi = {10.1007/s11721-015-0105-y},
year = {2015},
date = {2015-01-01},
journal = {Swarm Intelligence},
volume = {9},
number = {2-3},
pages = {75--102},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Francesca:2015jg,
title = {AutoMoDe-Chocolate: automatic design of control software for robot swarms},
author = { G Francesca and M Brambilla and A Brutschy and L Garattoni and R Miletitch and G Podevijn and A Reina and T Soleymani and M Salvaro and C Pinciroli and F Mascia and V Trianni and M Birattari},
year = {2015},
date = {2015-01-01},
journal = {Swarm Intelligence},
volume = {9},
number = {2-3},
pages = {125-152},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Trianni:2015dl,
title = {Advantages of Task-Specific Multi-Objective Optimisation in Evolutionary Robotics},
author = { Vito Trianni and Manuel López-Ibáñez},
url = {http://dx.plos.org/10.1371/journal.pone.0136406},
year = {2015},
date = {2015-01-01},
journal = {PLoS ONE},
volume = {10},
number = {8},
pages = {e0136406--27},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Reina:2015hu,
title = {A Design Pattern for Decentralised Decision Making},
author = { Andreagiovanni Reina and Gabriele Valentini and Cristian Fern'andez-Oto and Marco Dorigo and Vito Trianni},
url = {http://journals.plos.org/plosone/article?id=10.1371/journal.pone.0140950},
year = {2015},
date = {2015-01-01},
journal = {PLoS ONE},
volume = {10},
number = {10},
pages = {e0140950--18},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Soleymani:2015fu,
title = {Bio-inspired construction with mobile robots and compliant pockets},
author = { Touraj Soleymani and Vito Trianni and Michael Bonani and Francesco Mondada and Marco Dorigo},
url = {http://www.sciencedirect.com/science/article/pii/S0921889015001657},
year = {2015},
date = {2015-01-01},
journal = {Robotics and Autonomous Systems},
pages = {1--24},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@incollection{Trianni-Campo:SHCI,
title = {Fundamental Collective Behaviours in Swarm Robotics},
author = { V. Trianni and A. Campo},
editor = {Kacprzyk, Janusz and Pedrycz, Witold},
url = {http://laral.istc.cnr.it/trianni/wp-content/uploads/2015/10/chapter.pdf},
year = {2015},
date = {2015-01-01},
booktitle = {Springer Handbook of Computational Intelligence},
pages = {1377--1394},
publisher = {Springer Verlag, Berlin, Germany},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}

@article{Trianni:2014kg,
title = {Evolutionary Robotics: Model or Design?},
author = { V. Trianni},
year = {2014},
date = {2014-01-01},
journal = {Frontiers in Robotics and AI},
volume = {1},
number = {13},
pages = {1--6},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Francesca-EtAl:2014,
title = {AutoMoDe: A novel approach to the automatic design of control software for robot swarms},
author = { G. Francesca and M. Brambilla and A. Brutschy and V. Trianni and M. Birattari},
year = {2014},
date = {2014-01-01},
journal = {Swarm Intelligence},
volume = {8},
number = {2},
pages = {89--112},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Ducatelle-EtAl:2014,
title = {Cooperative navigation in robotic swarms},
author = { F. Ducatelle and G.A. Di Caro and A. Förster and M. Bonani and M. Dorigo and S. Magnenat and F. Mondada and R. O’Grady and C. Pinciroli and P. Rétornaz and V. Trianni and L.M. Gambardella},
year = {2014},
date = {2014-01-01},
journal = {Swarm Intelligence},
volume = {8},
number = {1},
pages = {1--33},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Tuci:2014jk,
title = {On the evolution of homogeneous two-robot teams: clonal versus aclonal approaches},
author = { E. Tuci and V. Trianni},
doi = {10.1007/s00521-014-1594-0},
year = {2014},
date = {2014-01-01},
journal = {Neural computing & applications},
pages = {1--14},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@incollection{Sperati:GSO,
title = {Mutual Information As a Task-Independent Utility Function for Evolutionary Robotics},
author = { V. Sperati and V. Trianni and S. Nolfi},
editor = {Mikhail Prokopenko},
year = {2014},
date = {2014-01-01},
booktitle = {Guided Self-Organization: Inception},
pages = {389--414},
publisher = {Springer Verlag, Berlin, Germany},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}

@incollection{Reina-Trianni:WSN,
title = {Deployment and Redeployment of Wireless Sensor Networks: a Swarm Robotics Perspective},
author = { A. Reina and V. Trianni},
editor = {Mitton, N. and Simplot-Ryl, D.},
year = {2014},
date = {2014-01-01},
booktitle = {Wireless Sensor and Robot Networks - From topology control to communication aspects},
pages = {143--162},
publisher = {World Scientific, Singapore},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}

@incollection{Trianni-EtAl:10:HorizonsER,
title = {Evolutionary Swarm Robotics: a theoretical and methodological itinerary from individual neuro-controllers to collective behaviours},
author = { V. Trianni and E. Tuci and C. Ampatzis and M. Dorigo},
editor = {P.~A.~Vargas and E.~Di~Paolo and I.~Harvey and P.~Husbands},
year = {2014},
date = {2014-01-01},
booktitle = {The Horizons of Evolutionary Robotics},
pages = {153--178},
publisher = {MIT Press, Cambridge, MA},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}

@inproceedings{Reina:2014vw,
title = {Collective decision making in distributed systems inspired by honeybees behaviour},
author = { A. Reina and M. Dorigo and V. Trianni},
year = {2014},
date = {2014-01-01},
booktitle = {AAMAS '14: Proceedings of the 2014 international conference on Autonomous agents and multi-agent systems},
pages = {1421-1422},
publisher = {International Foundation for Autonomous Agents and Multiagent Systems, Richland, SC},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Reina:2014:ANTS,
title = {Towards a Cognitive Design Pattern for Collective Decision-Making},
author = { A. Reina and M. Dorigo and V. Trianni},
year = {2014},
date = {2014-01-01},
booktitle = {ANTS 2014: Proceedings of Ninth International Conference on Swarm Intelligence},
volume = {8667},
pages = {194--205},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Francesca:2014:ANTS,
title = {An Experiment in Automatic Design of Robot Swarms: AutoMoDe-Vanilla, EvoStick, and Human Experts},
author = { G. Francesca and M. Brambilla and A. Brutschy and L. Garattoni and R. Miletitch and G. Podevijn and A. Reina and T. Soleymani and M. Salvaro and C. Pinciroli and V. Trianni and M. Birattari},
year = {2014},
date = {2014-01-01},
booktitle = {ANTS 2014: Proceedings of Ninth International Conference on Swarm Intelligence},
volume = {8667},
pages = {25--37},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{Dorigo-EtAl:swarmanoid,
title = {Swarmanoid: a novel concept for the study of heterogeneous robotic swarms},
author = { M. Dorigo and D. Floreano and L.M. Gambardella and F. Mondada and S. Nolfi and T. Baaboura and M. Birattari and M. Bonani and M. Brambilla and A. Brutschy and D. Burnier and A. Campo and A.L. Christensen and A. Decugnière and G.A. Di Caro and F. Ducatelle and E. Ferrante and A. Förster and J. Martinez Gonzales and J. Guzzi and V. Longchamp and S. Magnenat and N. Mathews and M.A. Montes de Oca and R. O’Grady and C. Pinciroli and G. Pini and P. Rétornaz and J. Roberts and V. Sperati and T. Stirling and A. Stranieri and T. Stützle and V. Trianni and E. Tuci and A.E. Turgut and F. Vaussard},
doi = {10.1109/MRA.2013.2252996},
year = {2013},
date = {2013-01-01},
journal = {IEEE Robotics & Automation Magazine},
volume = {20},
number = {4},
pages = {60--71},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@incollection{Trianni-Nolfi:10:hcr,
title = {Evolving collective control, cooperation and distributed cognition},
author = { V. Trianni and S. Nolfi},
editor = {Kernbach, S.},
year = {2013},
date = {2013-01-01},
booktitle = {Handbook of Collective Robotics},
pages = {127--166},
publisher = {Pan Stanford Publishing, Singapore},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}

@inproceedings{Miletitch-EtAl:13:ecal,
title = {Information Aggregation Mechanisms in Social Odometry},
author = { R. Miletitch and V. Trianni and A. Campo and M. Dorigo},
editor = {Li'o, P. and Miglino, O. and Nicosia, G. and Nolfi, S. and Pavone, M.},
year = {2013},
date = {2013-01-01},
booktitle = {Advances in Artificial Life (ECAL 2013). Proceedings of the Twelfth European Conference on the Synthesis and Simulation of Living Systems},
pages = {102--109},
publisher = {MIT Press, Cambridge, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Clarke-EtAl:13:ecal,
title = {An evolutionary approach to road following: a simulated case study},
author = { S. Clarke and F. Labrosse and V. Trianni and E. Tuci},
editor = {Li'o, P. and Miglino, O. and Nicosia, G. and Nolfi, S. and Pavone, M.},
year = {2013},
date = {2013-01-01},
booktitle = {Advances in Artificial Life (ECAL 2013). Proceedings of the Twelfth European Conference on the Synthesis and Simulation of Living Systems},
pages = {1017--1024},
publisher = {MIT Press, Cambridge, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Fehervari-EtAl:2013,
title = {On the effects of the robot configuration on evolving coordinated motion behaviors},
author = { I. Fehérvári and V. Trianni and W. Elmenreich},
year = {2013},
date = {2013-01-01},
booktitle = {Evolutionary Computation (CEC), 2013 IEEE Congress on},
pages = {1209--1216},
publisher = {IEEE Press},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{PinTriOGr-etal2012:si,
title = {ARGoS: A Modular, Parallel, Multi-Engine Simulator for Multi-Robot Systems},
author = { C. Pinciroli and V. Trianni and R. O'Grady and G. Pini and A. Brutschy and M. Brambilla and N. Mathews and E. Ferrante and G.A. Di Caro and F. Ducatelle and M. Birattari and L.M. Gambardella and M. Dorigo},
year = {2012},
date = {2012-01-01},
journal = {Swarm Intelligence},
volume = {6},
number = {4},
pages = {271--295},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@incollection{Morlino-EtAl:12,
title = {Evolution of Collective Perception in a Group of Autonomous Robots},
author = { G. Morlino and V. Trianni and E. Tuci},
editor = {Madani, Kurosh and Dourado Correia, António and Rosa, Agostinho and Filipe, Joaquim},
year = {2012},
date = {2012-01-01},
booktitle = {Computational Intelligence},
volume = {399},
pages = {67-80},
publisher = {Springer Berlin / Heidelberg},
series = {Studies in Computational Intelligence},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}

@inproceedings{Francesca-EtAl:SAB2012,
title = {Analysing an Evolved Robotic Behaviour Using a Biological Model of Collegial Decision Making},
author = { G. Francesca and M. Brambilla and V. Trianni and M. Dorigo and M. Birattari},
editor = {Ziemke, T. and Balkenius, C. and Hallam, J.},
isbn = {978-3-642-33092-6},
year = {2012},
date = {2012-01-01},
booktitle = {From Animals to Animats 12},
volume = {7426},
pages = {381--390},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Tuci-Trianni:SAB2012,
title = {On the Evolution of Homogeneous Multi-robot Teams: Clonal versus Aclonal Approach},
author = { E. Tuci and V. Trianni},
editor = {Ziemke, T. and Balkenius, C. and Hallam, J.},
isbn = {978-3-642-33092-6},
year = {2012},
date = {2012-01-01},
booktitle = {From Animals to Animats 12},
volume = {7426},
pages = {391--400},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{Sperati-EtAl:SI:2011,
title = {Self-organised path formation in a swarm of robots},
author = { V. Sperati and V. Trianni and S. Nolfi},
year = {2011},
date = {2011-01-01},
journal = {Swarm Intelligence},
volume = {5},
number = {2},
pages = {97--119},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Trianni-Nolfi:AL:2011,
title = {Engineering the Evolution of Self-Organizing Behaviors in Swarm Robotics: A Case Study},
author = { V. Trianni and S. Nolfi},
year = {2011},
date = {2011-01-01},
journal = {Artificial Life},
volume = {17},
number = {3},
pages = {183--202},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{trianni-etal:11:si,
title = {Swarm Cognition: an interdisciplinary approach to the study of self-organising biological collectives},
author = { V. Trianni and E. Tuci and K.M. Passino and J.A.R. Marshall},
year = {2011},
date = {2011-01-01},
journal = {Swarm Intelligence},
volume = {5},
number = {1},
pages = {3--18},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{trianni-etal:11:si-editorial,
title = {Special issue on Swarm Cognition},
author = { V. Trianni and E. Tuci and K.M. Passino},
year = {2011},
date = {2011-01-01},
journal = {Swarm Intelligence},
volume = {5},
number = {1},
pages = {1--2},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@inproceedings{DorBirOGr-etal2011:aaai,
title = {Swarmanoid, The Movie},
author = { M. Dorigo and M. Birattari and R. O'Grady and L.M. Gambardella and F. Mondada and D. Floreano and S. Nolfi and T. Baaboura and M. Bonani and M. Brambilla and A. Brutschy and D. Burnier and A. Campo and A.L. Christensen and A. Decugnière and G.A. Di Caro and F. Ducatelle and E. Ferrante and J. Guzzi and V. Longchamp and S. Magnenat and J. Martinez Gonzalez and N. Mathews and M.A. Montes de Oca and C. Pinciroli and G. Pini and P. Rétornaz and F. Rey and J. Roberts and F. Rochat and V. Sperati and T. Stirling and A. Stranieri and T. Stützle and V. Trianni and E. Tuci and A.E. Turgut and F. Vaussard},
url = {http://www.youtube.com/watch?v=M2nn1X9Xlps},
year = {2011},
date = {2011-01-01},
booktitle = {AAAI-11 Video Proceedings},
note = {Winner of the AAAI-2011 Best AI Video Award},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Stranieri-EtAl:11:ecal,
title = {Self-organized flocking with an heterogeneous mobile robot swarm},
author = { A. Stranieri and E. Ferrante and A.E. Turgut and V. Trianni and C. Pinciroli and M. Birattari and M. Dorigo},
editor = {Lenaerts, T. and Giacobini, M. and Bersini, H. and Bourgine, P. and Dorigo, M. and Doursat, R.},
year = {2011},
date = {2011-01-01},
booktitle = {Advances in Artificial Life. Proceedings of the 11th European Conference on Artificial Life (ECAL 2011)},
pages = {789--796},
publisher = {MIT Press, Cambridge, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Pinciroli-EtAl:2011:iros,
title = {ARGoS: A Modular, Multi-Engine Simulator for Heterogeneous Swarm Robotics},
author = { C. Pinciroli and V. Trianni and R. O'Grady and G. Pini and A. Brutschy and M. Brambilla and N. Mathews and E. Ferrante and G.A. Di Caro and F. Ducatelle and T. Stirling and A. Gutiérrez and L.M. Gambardella and M. Dorigo},
year = {2011},
date = {2011-01-01},
booktitle = {Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11)},
pages = {5027--5034},
publisher = {IEEE Computer Society Press},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Ampatzis-EtAli:09:ecal,
title = {To Grip, or Not to Grip: Evolving Coordination in Autonomous Robots},
author = { C. Ampatzis and F.C. Santos and V. Trianni and E. Tuci},
editor = {Kampis, G. and Karsai, I. and Szathmáry, E.},
year = {2011},
date = {2011-01-01},
booktitle = {Advances in Artificial Life. Proceedings of the 10th European Conference on Artificial Life (ECAL 2009)},
volume = {5777},
pages = {205--212},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Trianni-Tuci:09:ecal,
title = {Swarm Cognition and Artificial Life},
author = { V. Trianni and E. Tuci},
editor = {Kampis, G. and Karsai, I. and Szathmáry, E.},
year = {2011},
date = {2011-01-01},
booktitle = {Advances in Artificial Life. Proceedings of the 10th European Conference on Artificial Life (ECAL 2009)},
volume = {5778},
pages = {270--277},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@incollection{Ampatzis-EtAl:2009:ecagents-book,
title = {Evolution of Signaling in a Multi-Robot System: Categorization and Communication},
author = { C. Ampatzis and E. Tuci and V. Trianni and M. Dorigo},
editor = {Nolfi, S. and Mirolli, M.},
year = {2010},
date = {2010-01-01},
booktitle = {Evolution of Communication and Language in Embodied Agents},
pages = {161--178},
publisher = {Springer Verlag, Berlin, Germany},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}

@inproceedings{Morlino-EtAl:10:icec,
title = {Collective Perception in a Swarm of Autonomous Robots},
author = { G. Morlino and V. Trianni and E. Tuci},
editor = {J. Filipe and J. Kacprzyk},
isbn = {978-989-8425-31-7},
year = {2010},
date = {2010-07-02},
booktitle = {Proceedings of the International Conference on Evolutionary Computation (ICEC 2010)},
pages = {51--59},
publisher = {SciTePress, Science and Technology Publications, INSTICC, Setubal, Portugal},
address = {Valencia, Spain},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Trianni-Nolfi:10:alifexii,
title = {Re-Engineering Evolution: A Study In Self-Organising Synchronisation},
author = { V. Trianni and S. Nolfi},
editor = {Fellermann, H. and Dorr, M. and Hanczyc, M. and Ladegaard Laursen, L. and Maurer, S. and Merkle, D. and Monnard, P.-A. and Stoy, K. and Rasmussen, S.},
year = {2010},
date = {2010-01-01},
booktitle = {Artificial Life XII: Proceedings of the Twelfth International Conference on the Simulation and Synthesis of Living Systems},
pages = {561--568},
publisher = {MIT Press, Cambridge, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Sperati-EtAl:10:ants,
title = {Evolution of self-organised path formation in a swarm of robots},
author = { V. Sperati and V. Trianni and S. Nolfi},
editor = {M. Dorigo and M. Birattari and G.A. Di Caro and R. Doursat and A.P. Engelbrecht and D. Floreano and L.M. Gambardella and R. Groß and E. Şahin and T. Stützle and H. Sayama},
year = {2010},
date = {2010-01-01},
booktitle = {Proceedings of the 7th International Conference on Swarm Intelligence (ANTS 2010)},
volume = {6234},
pages = {155--166},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{trianni-nolfi:09:ieeetec,
title = {Self-Organising Sync in a Robotic Swarm. A Dynamical System View},
author = { V. Trianni and S. Nolfi},
year = {2009},
date = {2009-01-01},
journal = {IEEE Transactions on Evolutionary Computation},
volume = {13},
number = {4},
pages = {722--741},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{ampatzis-etal:09:alife,
title = {Evolving Self-Assembly in Autonomous Homogeneous Robots: Experiments with Two Physical Robots},
author = { C. Ampatzis and E. Tuci and V. Trianni and A.L. Christensen and M. Dorigo},
year = {2009},
date = {2009-01-01},
journal = {Artificial Life},
volume = {15},
number = {4},
pages = {465--484},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{sperati-etal:08:si,
title = {Evolving coordinated group behaviours through maximization of mean mutual information},
author = { V. Sperati and V. Trianni and S. Nolfi},
year = {2008},
date = {2008-01-01},
journal = {Swarm Intelligence},
volume = {2},
number = {2--4},
pages = {73--95},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{Ampatzis-EtAl:08:AB,
title = {Evolution of Signaling in a Multi-Robot System: Categorization and Communication},
author = { C. Ampatzis and E. Tuci and V. Trianni and M. Dorigo},
year = {2008},
date = {2008-01-01},
journal = {Adaptive Behaviour},
volume = {16},
number = {1},
pages = {5--26},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@book{Trianni:08:book,
title = {Evolutionary Swarm Robotics. Evolving Self-Organising Behaviours in Groups of Autonomous Robots},
author = { V. Trianni},
year = {2008},
date = {2008-01-01},
volume = {108},
publisher = {Springer Verlag, Berlin, Germany},
series = {Studies in Computational Intelligence},
keywords = {},
pubstate = {published},
tppubtype = {book}
}

@incollection{Trianni-EtAl:2008:si-book,
title = {Evolution, Self-Organisation and Swarm Robotics},
author = { V. Trianni and S. Nolfi and M. Dorigo},
editor = {Blum, C. and Merkle, D.},
year = {2008},
date = {2008-01-01},
booktitle = {Swarm Intelligence. Introduction and Applications},
pages = {163--192},
publisher = {Springer Verlag, Berlin, Germany},
series = {Natural Computing Series},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}

@inproceedings{Tuci-EtAl:08:alifexi,
title = {Self-assembly in physical autonomous robots: the evolutionary robotics approach},
author = { E. Tuci and C. Ampatzis and V. Trianni and A.L. Christensen and M. Dorigo},
editor = {Bullock, S. and Noble, J. and Watson, R. and Bedau, M.A.},
year = {2008},
date = {2008-01-01},
booktitle = {Artificial Life XI: Proceedings of the Eleventh International Conference on the Simulation and Synthesis of Living Systems},
pages = {616--623},
publisher = {MIT Press, Cambridge, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Trianni-Nolfi:08:alifexi,
title = {Self-organising synchronisation in a robotic swarm (abstract)},
author = { V. Trianni and S. Nolfi},
editor = {Bullock, S. and Noble, J. and Watson, R. and Bedau, M.A.},
year = {2008},
date = {2008-01-01},
booktitle = {Artificial Life XI: Proceedings of the Eleventh International Conference on the Simulation and Synthesis of Living Systems},
pages = {810},
publisher = {MIT Press, Cambridge, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Trianni-Nolfi:08:inds,
title = {Self-Organising Sync in a Robotic Swarm},
author = { V. Trianni and S. Nolfi},
editor = {Kyamakya, K.},
year = {2008},
date = {2008-01-01},
booktitle = {Proceedings of the First International Workshop on Non-Linear Dynamics and Synchronization, (INDS08)},
pages = {104--111},
publisher = {Shaker Verlag, Aachen, Germany},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{BaldassarreEtAl:07,
title = {Self-Organised Coordinated Motion in Groups of Physically Connected Robots},
author = { G. Baldassarre and V. Trianni and M. Bonani and F. Mondada and M. Dorigo and S. Nolfi},
year = {2007},
date = {2007-01-01},
journal = {IEEE Transactions on Systems, Man and Cybernetics - Part B: Cybernetics},
volume = {37},
number = {1},
pages = {224-239},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@inproceedings{Trianni-EtAl:07:ecal,
title = {From Solitary to Collective Behaviours: Decision Making and Cooperation},
author = { V. Trianni and C. Ampatzis and A.L. Christensen and E. Tuci and M. Dorigo and S. Nolfi},
editor = {F. Almeida e Costa et al.},
year = {2007},
date = {2007-01-01},
booktitle = {Advances in Artificial Life. Proceedings of the 9th European Conference on Artificial Life (ECAL 2007)},
volume = {4648},
pages = {575--584},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Artificial Intelligence},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Trianni-Nolfi:07,
title = {Minimal Communication Strategies for Self-Organising Synchronisation Behaviours},
author = { V. Trianni and S. Nolfi},
year = {2007},
date = {2007-01-01},
booktitle = {Proceedings of the 2007 IEEE Symposium on Artificial Life (WCCI-ALife 2007)},
pages = {199--206},
publisher = {IEEE Press, Piscataway, NJ},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{AmpatzisEtAl:SAB06-WS,
title = {Evolution of Signalling in a Group of Robots Controlled by Dynamic Neural Networks},
author = { C. Ampatzis and E. Tuci and V. Trianni and M. Dorigo},
editor = {Şahin, E. and W.~M.~Spears},
year = {2007},
date = {2007-01-01},
booktitle = {Swarm Robotics, Second International Workshop, SAB 2006, Rome, Italy, September 30-October 1, 2006, Revised Selected Papers},
volume = {4433},
pages = {173--188},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{Tuci-EtAl:06,
title = {Cooperation through self-assembling in multi-robot systems},
author = { E. Tuci and R. Groß and V. Trianni and F. Mondada and M. Bonani and M. Dorigo},
year = {2006},
date = {2006-01-01},
journal = {ACM Transactions on Autonomous and Adaptive Systems},
volume = {1},
number = {2},
pages = {115--150},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{TrianniDorigo:06,
title = {Self-Organisation and Communication in Groups of Simulated and Physical Robots},
author = { V. Trianni and M. Dorigo},
year = {2006},
date = {2006-01-01},
journal = {Biological Cybernetics},
volume = {95},
pages = {213--231},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{TrianniNolfiDorigo:ras,
title = {Cooperative Hole Avoidance in a em Swarm-bot},
author = { V. Trianni and S. Nolfi and M. Dorigo},
year = {2006},
date = {2006-01-01},
journal = {Robotics and Autonomous Systems},
volume = {54},
number = {2},
pages = {97--103},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@incollection{Dorigo-EtAl:06:book,
title = {SWARM-BOT: Design and Implementation of Colonies of Self-assembling Robots},
author = { M. Dorigo and E. Tuci and V. Trianni and R. Groß and S. Nouyan and C. Ampatzis and T.H. Labella and R. O'Grady and M. Bonani and F. Mondada},
editor = {Yen, G.Y. and Fogel, D.B.},
year = {2006},
date = {2006-01-01},
booktitle = {Computational Intelligence: Principles and Practice},
pages = {103--135},
publisher = {IEEE Computational Intelligence Society, New York, NY},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}

@inproceedings{TrianniDorigo:05,
title = {Emergent Collective Decisions in a Swarm of Robots},
author = { V. Trianni and M. Dorigo},
editor = {P. Arabshahi and A. Martinoli},
year = {2005},
date = {2005-01-01},
booktitle = {Proceedings of the 2005 IEEE International Symposium on Swarm Intelligence (SIS 2005)},
pages = {241--248},
publisher = {IEEE Press, Piscataway, NJ},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{Ampatzis-EtAl:05,
title = {Evolving communicating agents that integrate information over time: a real robot experiment},
author = { C. Ampatzis and E. Tuci and V. Trianni and M. Dorigo},
editor = {E.-G.~Talbi and P.~Liardet and P.~Collet and E.~Lutton and M.~Schoenauer},
year = {2005},
date = {2005-01-01},
booktitle = {Proceedings of the Seventh International Conference on Artificial Evolution, (EA 2005)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{DorigoEtAl:SAB8:05,
title = {The SWARM-BOTS Project},
author = { M. Dorigo and E. Tuci and R. Groß and V. Trianni and T.H. Labella and S. Nouyan and C. Ampatzis and J.-L. Deneubourg and G. Baldassarre and S. Nolfi and F. Mondada and D. Floreano and L.M. Gambardella},
editor = {Şahin, E. and Spears, W.M.},
year = {2005},
date = {2005-01-01},
booktitle = {Swarm Robotics -- SAB 2004 International Workshop, Santa Monica, CA, USA, July 17, 2004, Revised Selected Papers},
volume = {3342},
pages = {31--44},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{Dor-etal04:ar,
title = {Evolving Self-Organizing Behaviors for a Swarm-bot},
author = { M. Dorigo and V. Trianni and E. Şahin and R. Groß and T.H. Labella and G. Baldassarre and S. Nolfi and J.-L. Deneubourg and F. Mondada and D. Floreano and L.M. Gambardella},
year = {2004},
date = {2004-01-01},
journal = {Autonomous Robots},
volume = {17},
number = {2--3},
pages = {223--245},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@article{TuciTrianniDorigo04:cs,
title = {`Feeling' the Flow of Time through Sensorymotor Co-ordination},
author = { E. Tuci and V. Trianni and M. Dorigo},
year = {2004},
date = {2004-01-01},
journal = {Connection Science},
volume = {16},
number = {4},
pages = {301--324},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@inproceedings{TrianniEtAl:ANTS:04,
title = {Evolution of Direct Communication for a Swarm-bot Performing Hole Avoidance},
author = { V. Trianni and T.H. Labella and M. Dorigo},
editor = {Dorigo, M. and Birattari, M. and Blum, C. and Gambardella, L.M. and Mondada, F. and St"utzle, T.},
year = {2004},
date = {2004-01-01},
booktitle = {Ant Colony Optimization and Swarm Intelligence -- Proceedings of ANTS 2004 -- Fourth International Workshop},
volume = {3172},
pages = {131--142},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{TuciEtAl:PPSN:04,
title = {Evolving the "feeling" of time through sensory-motor coordination: a robot based model},
author = { E. Tuci and V. Trianni and M. Dorigo},
editor = {Yao, X. em et al.},
year = {2004},
date = {2004-01-01},
booktitle = {Proceedings of The Eighth International Conference on Parallel Problem Solving from Nature (PPSN VIII)},
volume = {3242},
pages = {1001-1010},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Computer Science},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{TrianniEtAl:SAB8:04,
title = {Evolving Functional Self-Assembling in a Swarm of Autonomous Robots},
author = { V. Trianni and E. Tuci and M. Dorigo},
editor = {Schaal, S. and Ijspeert, A. and Billard, A. and Vijayakumar, S. and Hallam, J. and Meyer, J.-A.},
year = {2004},
date = {2004-01-01},
booktitle = {From Animals to Animats $VIII$. Proceedings of the $8^th$ International Conference on Simulation of Adaptive Behavior},
pages = {405--414},
publisher = {MIT Press, Cambridge, MA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{TrianniEtAl:IAS8:04,
title = {Hole Avoidance: Experiments in Coordinated Motion on Rough Terrain},
author = { V. Trianni and S. Nolfi and M. Dorigo},
editor = {Groen, F. and Amato, N. and Bonarini, A. and Yoshida, E. and Kr"ose, B.},
year = {2004},
date = {2004-01-01},
booktitle = {Intelligent Autonomous Systems 8},
pages = {29-36},
publisher = {IOS Press, Amsterdam, The Netherlands},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{TrianniEtAl:ECAL:03,
title = {Evolving Aggregation Behaviors in a Swarm of Robots},
author = { V. Trianni and R. Groß and T.H. Labella and E. Şahin and M. Dorigo},
editor = {Banzhaf, W. and Christaller, T. and Dittrich, P. and Kim, J.T. and Ziegler, J.},
year = {2003},
date = {2003-01-01},
booktitle = {Proceedings of the Seventh European Conference on Artificial Life (ECAL'03)},
volume = {2801},
pages = {865--874},
publisher = {Springer Verlag, Berlin, Germany},
series = {Lecture Notes in Artificial Intelligence},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{SahinEtAl:IEEE-SMC:02,
title = {SWARM-BOT: Pattern Formation in a Swarm of Self-Assembling Mobile Robots},
author = { E. Şahin and T.H. Labella and V. Trianni and J.-L. Deneubourg and P. Rasse and D. Floreano and L.M. Gambardella and F. Mondada and S. Nolfi and M. Dorigo},
editor = {A. El Kamel and K. Mellouli and P. Borne},
year = {2002},
date = {2002-01-01},
booktitle = {Proceedings of the IEEE International Conference on Systems, Man and Cybernetics},
pages = {145--150},
publisher = {IEEE Press, Piscataway, NJ},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{BeltrameEtAl:ISSS:02,
title = {Modeling assembly instruction timing in superscalar architectures},
author = { G. Beltrame and C. Brandolese and W. Fornaciari and F. Salice and D. Sciuto and V. Trianni},
year = {2002},
date = {2002-01-01},
booktitle = {ISSS '02: Proceedings of the 15th international symposium on System Synthesis},
pages = {132--137},
publisher = {ACM Press, New York, NY},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{BonariniTrianni:infsci,
title = {Learning Fuzzy Classifier Systems for Multi-Agent Coordination},
author = { A. Bonarini and V. Trianni},
year = {2001},
date = {2001-01-01},
journal = {Information Science},
volume = {136},
pages = {215--239},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@inproceedings{BeltrameEtAl:ISSS:01,
title = {Dynamic modeling of inter-instruction effects for execution time estimation},
author = { G. Beltrame and C. Brandolese and W. Fornaciari and F. Salice and D. Sciuto and V. Trianni},
year = {2001},
date = {2001-01-01},
booktitle = {ISSS '01: Proceedings of the 14th international symposium on Systems synthesis},
pages = {136--141},
publisher = {ACM Press, New York, NY},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@inproceedings{BeltrameEtAl:ICCAD:01,
title = {An Assembly-Level Execution-Time Model for Pipelined Architectures},
author = { G. Beltrame and C. Brandolese and W. Fornaciari and F. Salice and D. Sciuto and V. Trianni},
year = {2001},
date = {2001-01-01},
booktitle = {ICCAD '01: Proceedings of the 2001 IEEE/ACM international conference on Computer-aided design},
pages = {195--200},
publisher = {IEEE Press, Piscataway, NJ},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}

@article{Caleffi:2018tj,
title = {Self-Organizing Strategy Design for Heterogeneous Coexistence in the Sub-6 GHz},
author = { M Caleffi and V. Trianni and A S Cacciapuoti},
journal = {IEEE Transactions on Wireless Communications},
volume = {17},
number = {11},
pages = {7128--7143},
keywords = {},
pubstate = {published},
tppubtype = {article}
}

@inproceedings{Soleymani-EtAl:IAS13,
title = {Autonomous Construction with Compliant Building Material},
author = { T. Soleymani and V. Trianni and M. Bonani and F. Mondada and M. Dorigo},
editor = {Menegatti, E. and Michael, N. and Berns, K. and Yamaguchi, H.},
booktitle = {Intelligent Autonomous Systems 13},
volume = {301},
pages = {1371-1388},
publisher = {Springer-Verlag, Berlin, Germany},
series = {Advances in Intelligent Systems and Computing},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}