@booklet {spqrv07tdp, title = {{RoboCupRescue} - {V}irtual {R}obots {L}eague, {T}eam {SPQR}-{V}irtual, {I}taly}, journal = {Proceedings of International RoboCup Symposium 2007 - (CD-ROM Proceedings)}, year = {2007}, author = {D. Calisi and A. Farinelli and S. Pellegrini} }