Yoann Dieudonné Shlomi Dolev Franck Petit Michael Segal Brief announcement: deaf, dumb, and chatting robots. 308-309 2009 PODC http://doi.acm.org/10.1145/1582716.1582781 conf/podc/2009 db/conf/podc/podc2009.html#DieudonneDPS09