@article {nardi09improving, title = {Improving Search and Rescue Using Contextual Information}, journal = {Advanced Robotics}, volume = {23}, number = {9}, year = {2009}, pages = {1199{\textendash}1216}, issn = {0169-1864}, doi = {10.1163/156855309X452539}, author = {Daniele Calisi and Luca Iocchi and Daniele Nardi and Gabriele Randelli and Vittorio A. Ziparo} }