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Yanco, H. and Stein, L. A. (1992) An adaptive communication protocol for cooperating mobile robots. In J-A Meyer and H. L. Roitblat and S. Wilson, editors, SAB92, pages 478--485. MIT Press.

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Vogt, The impact of non-verbal communication on lexicon formation, 2001 :: 2
Wagner,Reggia, Evolving consensus among a population of communicators, 2002 :: 1

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