@article { Balakirsky2007,
	title = {Towards heterogeneous robot teams for disaster mitigation: Results and Performance Metrics from RoboCup Rescue},
	journal = {Journal of Field Robotics},
	volume = {24},
	number = {11-12},
	year = {2007},
	month = {November},
	pages = {943{\textendash}967},
	doi = {10.1002/rob.20212},
	url = {http://www3.interscience.wiley.com/cgi-bin/fulltext/116841419/PDFSTART},
	author = {Stephen Balakirsky and Stefano Carpin and Alexander Kleiner and Michael Lewis and Arnoud Visser and Jijun Wang and V. A. Ziparo}
}
@article {Balakirsky2007,
	title = {Towards heterogeneous robot teams for disaster mitigation: Results and Performance Metrics from RoboCup Rescue},
	journal = {Journal of Field Robotics},
	volume = {24},
	number = {11-12},
	year = {2007},
	month = {November},
	pages = {943{\textendash}967},
	doi = {10.1002/rob.20212},
	url = {http://www3.interscience.wiley.com/cgi-bin/fulltext/116841419/PDFSTART},
	author = {Stephen Balakirsky and Stefano Carpin and Alexander Kleiner and Michael Lewis and Arnoud Visser and Jijun Wang and Vittorio Amos Ziparo}
}
