@conference {Baha-Cali-05a, title = {Autonomous Exploration for Search and Rescue Robots}, booktitle = {Proceedings of the International Conference on Safety and Security Engineering (SAFE)}, year = {2007}, pages = {305{\textendash}314}, isbn = {978-1-84564-068-2}, author = {Daniele Calisi and Alessandro Farinelli and Luca Iocchi and Daniele Nardi} }