@InProceedings{santos11hierarchical,
  Author = {Graciano Santos, Vinicius and Chaimowicz, Luiz},
  Title = {Hierarchical congestion control for robotic swarms},
  BookTitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11)},
  Pages = {4372--4377},
  Month = {},
  Year = {2011}
}

@InProceedings{santos11uso,
  Author = {Graciano Santos, Vinicius and Chaimowicz, Luiz},
  Title = {Uso de Hierarquias no Controle de Enxames Robóticos},
  BookTitle = {X Simpósio Brasileiro de Automação Inteligente (SBAI'11)},
  Pages = {557--562},
  Year = {2011}
}