If you use Protelis, please reference these foundational papers, and read them first.

• Aggregate Programming for the Internet of Things, Jacob Beal, Danilo Pianini, Mirko Viroli, IEEE Computer, 48(9), pp 22–30, September 2015.
  Foundational field calculus and Protelis aggregate programming
• Protelis: Practical Aggregate Programming, Danilo Pianini, Mirko Viroli, Jacob Beal, ACM Symposium on Applied Computing 2015, April 2015.
  The first scientific paper presenting Protelis and example applications

Top 8 additional references for further reading

• A Type-Sound Calculus of Computational Fields, Ferruccio Damiani, Mirko Viroli, Jacob Beal, Science of Computer Programming, Volume 117, pp 17–44, February 2016.
• Efficient Engineering of Complex Self-Organizing Systems by Self-Stabilising Fields, Mirko Viroli, Jacob Beal, Ferruccio Damiani, and Danilo Pianini, IEEE International Conference on Self-Adaptive and Self-Organizing Systems (SASO), September 2015.
• Self-Adaptation to Device Distribution in the Internet of Things, Jacob Beal, Mirko Viroli, Danilo Pianini, and Ferruccio Damiani, ACM Transactions on Autonomous and Adaptive Systems, 12 (3), article 12, September 2017.
• Organizing the Aggregate: Languages for Spatial Computing, Jacob Beal, Stefan Dulman, Kyle Usbeck, Mirko Viroli, Nikolaus Correll, chapter in “Formal and Practical Aspects of Domain-Specific Languages: Recent Developments,” edited by Marjan Mernik, IGI Global, December 2012.
  A survey of other aggregate programming approaches, with a focus on spatially-distributed networks
• Code Mobility Meets Self-organisation: a Higher-order Calculus of Computational Fields, Ferruccio Damiani, Mirko Viroli, Danilo Pianini, and Jacob Beal, Formal Techniques for Distributed Objects, Components, and Systems (FORTE), pp. 113-128, June 2015.
• Towards a Foundational API for Resilient Distributed Systems Design, Matteo Francia, Danilo Pianini, Jacob Beal, and Mirko Viroli, Workshop on Engineering Collective Adaptive Systems (eCAS), September 2017.
• Building blocks for aggregate programming of self-organising applications, Jacob Beal and Mirko Viroli, Workshop on Fundamental of Collective Adaptive Systems (FoCAS), September 2014.
• Towards a Unified Model of Spatial Computing, Jacob Beal, Mirko Viroli, and Ferruccio Damiani, 7th Spatial Computing Workshop (SCW’14), May 2014.

Additional references

Journal Articles

• Formal Foundations of Sensor Network Applications, Jacob Beal and Mirko Viroli, SIGSPATIAL Special, Volume 7, Number 2, pp 36–42, July 2015.
• Space-time Programming, Jacob Beal and Mirko Viroli, Philosophical Transactions of the Royal Society A, Volume 373, Issue 2046, pages 20140220, June 2015.
  Larger picture of field calculus and general approach to aggregate programming, with a focus on spatially-distributed systems
• Superdiffusive Dispersion and Mixing of Swarms, Jacob Beal, ACM Transactions on Autonomous and Adaptive Systems, Vol. 10, No. 2, Article 10, June 2015.
• On the Evaluation of Space-Time Functions, Jacob Beal, Kyle Usbeck, and Brett Benyo, The Computer Journal, 56 (12), pp. 1500-1517, December 2013.

Book Chapters

• Aggregate Programming: From Foundations to Applications, Jacob Beal, Mirko Viroli, chapter in “Formal Methods for the Quantitative Evaluation of Collective Adaptive Systems.” ed. Marco Bernardo, Rocco De Nicola, and Jane Hillston, Springer International Publishing, pp 233-260, June 2016.
  Crowd density warning example

Peer-Reviewed Conference Articles

• A Lyapunov Analysis for the Robust Stability of an Adaptive Bellman-Ford Algorithm, Soura Dasgupta and Jacob Beal, IEEE Conference on Decision and Control (CDC), December 2016.
• Self-adaptation to Device Distribution Changes, Jacob Beal, Mirko Viroli, Danilo Pianini, and Ferruccio Damiani, IEEE International Conference on Self-Adaptive and Self-Organizing Systems (SASO), September 2016. Received Best Paper Award.
• Improving gossip dynamics through overlapping replicates, Danilo Pianini, Jacob Beal, and Mirko Viroli, International Conference on Coordination Languages and Models, June 2016.
• Opportunistic Sharing of Airborne Sensors, Jacob Beal, Kyle Usbeck, Joseph Loyall, and James Metzler, International Conference on Distributed Computing in Sensor Systems (DCOSS), May, 2016.
• Distributed Recovery for Enterprise Services, Shane S. Clark, Jacob Beal, Partha Pal, 9th IEEE International Conference on Self-Adaptive and Self-Organizing Systems (SASO), September 2015.
  Protelis applied to fast, low-impact automated recovery of enterprise systems
• Superdiffusive Dispersion and Mixing of Swarms with Reactive Levy Walks, Jacob Beal, IEEE International Conference on Self-Adaptive and Self-Organizing Systems (SASO 2013), September 2013.

Peer-Reviewed Conference Abstracts

• Engineering multi-agent systems with aggregate computing, Danilo Pianini, Mirko Viroli, and Jacob Beal, Principles and Practice of Multi-Agent Systems (PRIMA 2015), October 2015.

Workshops, Symposia, and Seminars

• Error in Self-Stabilizing Spanning-Tree Estimation of Collective State, Yuanqiu Mo, Jacob Beal, and Soura Dasgupta, Workshop on Engineering Collective Adaptive Systems (eCAS), September 2017.
• Adaptive Task Reallocation for Airborne Sensor Sharing, Jacob Beal, Kyle Usbeck, Joseph Loyall, Mason Rowe, and James Metzler, Workshop on Engineering Collective Adaptive Systems (eCAS), September 2016.
• Combining Self-Organisation and Autonomic Computing in CASs with Aggregate-MAPE, Mirko Viroli, Antonio Bucchiarone, Danilo Pianini, and Jacob Beal, Workshop on Engineering Collective Adaptive Systems (eCAS), September 2016.
• Resiliency with Aggregate Computing: State of the Art and Roadmap, Mirko Viroli and Jacob Beal, FORmal methods for the quantitative Evaluation of Collective Adaptive SysTems (FORECAST), July 2016.
• Toward Predicting Distributed Systems Dynamics, Amy Kumar, Jacob Beal, Soura Dasgupta, Raghuraman Mudumbai, Spatial and COllective PErvasive Computing Systems (SCOPES), September 2015.
• A Calculus of Computational Fields, Mirko Viroli, Ferruccio Damiani, and Jacob Beal, 12th International Workshop on Foundations of Coordination Languages and Self Adaptive Systems (FOCLASA'13), September 2013.
  Field calculus is the mathematical/theoretical foundation of Protelis
• Accelerating Approximate Consensus with Self-Organizing Overlays, Jacob Beal, 6th Spatial Computing Workshop, May 2013.
• A Tactical Command Approach to Human Control of Vehicle Swarms, Jacob Beal, AAAI 2012 Fall Symposium “Human Control of Bio-Inspired Swarms,” November 2012.