Robin R. Murphy Satoshi Tadokoro Daniele Nardi Adam Jacoff Paolo Fiorini Howie Choset Aydan M. Erkmen Search and Rescue Robotics. 1151-1173 2008 Springer Handbook of Robotics http://dx.doi.org/10.1007/978-3-540-30301-5_51 reference/robo/2008 db/reference/robo/robo2008.html#MurphyTNJFCE08