The RoboCup-Rescue Project: A Robotic Approach to the Disaster Mitigation Problem.
Satoshi TadokoroHiroaki KitanoTomoichi TakahashiItsuki NodaHitoshi MatsubaraAtsushi ShinjohTetsuhiko KotoIkuo TakeuchiHironao TakahashiFumitoshi MatsunoMichinori HatayamaJun NobeSusumu ShimadaPublished in: ICRA (2000)