@conference {burgard09comparison,
	title = {A Comparison of SLAM Algorithms Based on a Graph of Relations},
	booktitle = {Proceedings of IEEE/RSJ Conference on Robots and Systems (IROS)},
	year = {2009},
	author = {Wolfram Burgard and Cyrill Stachniss and Giorgio Grisetti and Bastian Steder and Rainer Kuemmerle and Christian Dornhege and Michael Ruhnke and Alexander Kleiner and Juan D. Tardos}
}
@conference {ZipKlein07,
	title = {RFID-Based Exploration for Large Robot Teams},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2007},
	address = {Rome, Italy},
	isbn = {1-4244-0602-1},
	issn = {1050-4729},
	author = {Vittorio A. Ziparo and Alexander Kleiner and Bernhard Nebel and Daniele Nardi}
}
@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}
}
@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}
}
