@inbook{Xiao_11,
	title={Bio-Inspired Computing and Networking},
	author={ Spring Berman and Adam Halasz and M. Ani Hsieh},
	chapter={Ant-Inspired Allocation: Top-Down Controller Design for Distributing a Robot Swarm Among Multiple Tasks}, 
	editor = {Xiao, Yang},
	publisher={CRC Press},
	isbn={9781466508903},
	url={https://books.google.com/books?id=oqwuwsdwxT8C},
	year={2011},
	
}