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Garnier S, Combe M, Jost C, Theraulaz G (2013) Do Ants Need to Estimate the Geometrical Properties of Trail Bifurcations to Find an Efficient Route? A Swarm Robotics Test Bed. PLoS Comput Biol 9(3): e1002903. doi: 10.1371/journal.pcbi.1002903

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