Self-organized pattern formation in a swarm system as a transient phenomenon of non-linear dynamics
H. Hamann, T. Schmickl, K. Crailsheim, Mathematical and Computer Modelling of Dynamical Systems 18 (2012) 39–50.

Modelling a hormone-inspired controller for individual- and multi-modular robotic systems
T. Schmickl, H. Hamann, K. Crailsheim, Mathematical and Computer Modelling of Dynamical Systems 17 (2011) 221–242.