@phdthesis{956,
  author = {Nicholas Hoff},
  title = {Multi-Robot Foraging for Swarms of Simple Robots},
  year = {2011},
  journal = {Doctoral Thesis, Harvard University},
  url = {https://ssr.seas.harvard.edu/files/ssr/files/phd11-hoff.pdf},
  language = {eng},
}