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A probabilistic model for understanding and comparing collective aggregation mechanisms, , and . Advances in Artificial Life (ECAL 99), page 575--584. Berlin, Springer-Verlag, (1999)Drop-On-Demand Inkjet Printing of SU-8 Polymer, , , , and . Micro and Nanosystems, 1 (1): 63--67 (2009)Adaptive exploration of a dynamic environment by a group of communicating robots, , and . Advances in Artificial Life (ECAL 99), page 596--605. Berlin, Springer-Verlag, (1999)