@article{tarcai2011patterns, title={Patterns, transitions and the role of leaders in the collective dynamics of a simple robotic flock}, author={Tarcai, Norbert and Vir{\'a}gh, Csaba and {\'A}bel, D{\'a}niel and Nagy, M{\'a}t{\'e} and V{\'a}rkonyi, P{\'e}ter L and V{\'a}s{\'a}rhelyi, G{\'a}bor and Vicsek, Tam{\'a}s}, journal={Journal of Statistical Mechanics: Theory and Experiment}, volume={2011}, number={04}, pages={P04010}, year={2011}, publisher={IOP Publishing} }