Jacques Penders Lyuba Alboul Ulf Witkowski Amir Naghsh Joan Saez-Pons Stefan Herbrechtsmeier Mohamed El Habbal A Robot Swarm Assisting a Human Fire-Fighter. 93-117 2011 25 Advanced Robotics 1-2 http://dx.doi.org/10.1163/016918610X538507 db/journals/ar/ar25.html#PendersAWNSHH11