Junyao Gao Xueshan Gao Wei Zhu Jianguo Zhu Boyu Wei Coal Mine Detect and Rescue Robot Design and Research. 780-785 2008 ICNSC http://dx.doi.org/10.1109/ICNSC.2008.4525321 conf/icnsc/2008 db/conf/icnsc/icnsc2008.html#GaoGZZW08