By Harold Abelson, Don Allen, Daniel Coore, Chris Hanson, George Homsy, Thomas F. Knight, Radhika Nagpal, Erik Rauch, Gerald Jay Sussman, Ron Weiss
Communications of the ACM,
Vol. 43 No. 5, Pages 74-82
For coherent behavior from vast numbers of unreliable microsensors, actuators, and communication devices interconnected in unknown ways, apply the lessons of cellular cooperation in biological organisms.
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