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The Biological Bulletin202, 247-255. Camazine, S., Deneubourg, J-L., Franks, N.R., Sneyd, J., Theraulaz, G. ... and Franks, N.R. (2002).Collective memory and spatial sorting in animal groups.
www.maths.usyd.edu.au/u/pubs/publist/preprints/2004/merrifield-40.pdf