@article{neuralMultiRobotSynchronization,
  author = {Steffen Wischmann and Martin Huelse and Johannes F. Knabe and Frank Pasemann},
  title = {Synchronization of internal neural rhythms in multi-robotic systems},
 journal = {Adaptive Behavior},
 pages = {117--127},
 volume = {14},
 number = {2},
 year = {2006},
 abstract ={This paper introduces a method for the coordination of individual action within a group of robots that have to accomplish a common task, gathering energy in a dynamic   environment and transferring this energy to a nest. Each individual behavioral pattern is driven by an internal neural rhythm generator exhibiting quasi-periodic  oscillations. The paper describes the implementation of this generator, its influence on the dynamics of artificial recurrent neural networks controlling the   robots, and the synchronization of internal rhythms with differing frequencies in a group of situated and embodied robots. Synchronization is achieved either by   environmental stimuli or even by self-organizing processes solely based on local interactions within a robot population of up to 150 robots. The proposed  experimental methodology is used as a bottom-up approach and starting point for answering the question about the complexity required at the individual level to generate sophisticated behavioral patterns at the group level.},
 url = {http://adb.sagepub.com/cgi/reprint/14/2/117}
}