@INPROCEEDINGS{ducatelle10Ants,
  AUTHOR = { Frederick Ducatelle, Gianni DiCaro, Alexander F{\"o}rster and Luca M.Gambardella },
  TITLE = {{Mobile stigmergic markers for navigation in a heterogeneous robotic swarm}},
  BOOKTITLE = {{Proceedings of the 7th International ANTS Conference}},
  YEAR = {2010},
  MONTH={September},
  ADDRESS = {Brussels, Belgium},
  series    = {Lecture Notes in Computer Science (LNCS)},
  volume    = {6234},
  PUBLISHER = {Springer}
}