Ettore Ferranti Niki Trigoni Mark Levene HybridExploration: A distributed approach to terrain exploration using mobile and fixed sensor nodes. 1280-1286 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4650699 conf/iros/2008 db/conf/iros/iros2008.html#FerrantiTL08