@article{VaMuMuLoAl14,
  author={L. Valentin and R. Murrieta-Cid and L Munoz and R. Lopez-Padilla and M. Alencastre},
  title={Motion strategies for exploration and map building under uncertainty 
  with multiple heterogeneous robots},	
  journal={Advanced Robotics},
  month={July},
  pages={1133--1149},
  volume=28,
  number=17,
  year={2014}}