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Virtual pheromone map building and a utilization method for..:

Moon, Woo-Sung ; Jang, Jin-Won ; Kim, Han-Sol.
International Journal of Control, Automation and Systems.  13 (2015)  6 - p. 1446-1453 , 2015
Link: https://doi.org/10.1007/s12555-013-0431-z