Chitta Baral Luis Floriano Aaron Hardesty David Morales Monica Nogueira Tran Cao Son From Theory to Practice: The UTEP Robot in the AAAI 96 AAAI 97 Robot Contests. 32-38 1998 Agents http://doi.acm.org/10.1145/280765.280771 db/conf/agents/agents98.html#BaralFHMNS98