@article{costadaptationforrobustdecentralized,
  title = {Cost Adaptation for Robust Decentralized Swarm Behaviour},
  author = {Peter Henderson and Matthew Vertescher and David Meger and Mark Coates},
  year = {2017},
  eprint = {1709.07114},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1709.07114v2},
}