@article {197, title = {Mechanism and Convergence Analysis of a Multi-Robot Swarm Approach Based on Natural Selection}, journal = {Journal of Intelligent and Robotic Systems}, volume = {76}, year = {2014}, month = {Nov.}, pages = {353-381}, author = {Couceiro, M S and Martins, F M and Rocha, R P and Ferreira, N M F} }