@inproceedings{middendorffscheutz06alife, title={Real-time Evolving Swarms for Rapid Pattern Detection and Tracking}, author={Christopher Middendorff and Matthias Scheutz}, year={2006}, month={June}, booktitle={Proceedings of Artificial Life X}, pages={419--425} url={https://hrilab.tufts.edu/publications/middendorffscheutz06alife.pdf} }