Rabah Meraihi Gwendal Le Grand Samir Tohmé Michel Riguidel Real Time Application Support in an Ambient Network Using Intelligent Mobile Robots. 88-98 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2875&spage=88 2003 conf/eusai/2003 EUSAI db/conf/eusai/eusai2003.html#MeraihiGTR03