?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adissertation&rft.aufirst=H.&rft.aulast=Geberesilase&rft.au=Geberesilase%2C+H.&rft.date=2013&rft.title=Optimization+of+the+robot+swarm's+firmware&rft.degree=Masters&rft.inst=University+of+Trento