Towards heterogeneous robot teams for disaster mitigation: Results and performance metrics from RoboCup rescue.

Stephen Balakirsky Stefano Carpin Alexander Kleiner Michael Lewis Arnoud Visser Jijun Wang Vittorio A. Ziparo Towards heterogeneous robot teams for disaster mitigation: Results and performance metrics from RoboCup rescue. 943-967 2007 24 J. Field Robotics 11-12 http://dx.doi.org/10.1002/rob.20212 db/journals/jfr/jfr24.html#BalakirskyCKLVWZ07