@inproceedingsHamann_Wörn_2007, title=A Space- and Time-Continuous Model of Self-Organizing Robot Swarms for Design Support, DOI=10.1109/saso.2007.3, booktitle=First International Conference on Self-Adaptive and Self-Organizing Systems (SASO 2007), author=Hamann, Heiko and Wörn, Heinz, year=2007, pages=23--31