Florian Zeiger Nikolaus Kraemer Klaus Schilling Commanding mobile robots via wireless ad-hoc networks - A comparison of four ad-hoc routing protocol implementations. 590-595 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543270 conf/icra/2008 db/conf/icra/icra2008.html#ZeigerKS08