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M. S.  Couceiro, Figueiredo, C. M., Rocha, R. P., and Ferreira, N. M. F., ?Darwinian Swarm Exploration under Communication Constraints: Initial Deployment and Fault-Tolerance Assessment?, Robotics and Autonomous Systems, vol. 62, pp. 528-544, 2014.\par \par D.  Portugal and Rocha, R. P., ?Distributed Multi-Robot Patrol: A Scalable and Fault-Tolerant Framework?, Robotics and Autonomous Systems, vol. 61, pp. 1572-1587, 2013.\par \par }