Tomoichi Takahashi Satoshi Tadokoro Masayuki Ohta Nobuhiro Ito Agent Based Approach in Disaster Rescue Simulation - From Test-Bed of Multiagent System to Practical Application. 102-111 2001 conf/robocup/2001 RoboCup http://link.springer.de/link/service/series/0558/bibs/2377/23770102.htm db/conf/robocup/robocup2001.html#TakahashiTOI01