Michael Krautmacher Werner Dilger AIS Based Robot Navigation in a Rescue Scenario. 106-118 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3239&spage=106 2004 conf/icaris/2004 ICARIS db/conf/icaris/icaris2004.html#KrautmacherD04