Francesco Capezio Fulvio Mastrogiovanni Antonio Sgorbissa Renato Zaccaria Mobile Robots and Intelligent Environments. 781-788 2007 conf/aiia/2007 AI*IA http://dx.doi.org/10.1007/978-3-540-74782-6_69 db/conf/aiia/aiia2007.html#CapezioMSZ07