John Koschwanez Mark Holl Michael McMurray Daniel Gottschling Deirdre R. Meldrum Automation of Yeast Pedigree Analysis. 1475-1480 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1308032 db/conf/icra/icra2004-2.html#KoschwanezHMGM04