@article{balakirsky_et_al_jfr07,
   author = {S. Balakirsky and S. Carpin and A. Kleiner and M. Lewis and
	A. Visser and J. Wang and V.A. Ziparo},
   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},
   pages = {943--967},
   year = {2007}
}