@article {BDDLPPSS08, title = {Heterogeneous Wireless Multirobot System}, journal = {Robotics and Automation Magazine, IEEE}, volume = {15}, number = {1}, year = {2008}, pages = {62{\textendash}70}, keywords = {Robotics}, doi = {10.1109/M-RA.2007.914925}, url = {http://dx.doi.org/10.1109/M-RA.2007.914925}, author = {A. Bicchi and A. Danesi and G. Dini and La Porta, S. and L. Pallottino and I. M. Savino and R. Schiavi} }