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Van Berkel, S.E.F. (author)In recent years, large-scale systems have become mainstream at a very high pace. Typical examples of large-scale systems are MANETs, Wireless Sensor Networks, Pervasive Computing, Swarm Robotics, etc. These systems distinguish them- selves by the large number of devices they embody, and emergent behaviors they exhibit: Behavior that is globally...master thesis 2012