@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}
}