F.  Amigoni, Basilico, N., and Quattrini Li, A., ?How Much Worth Is Coordination of Mobile Robots for Exploration in Search and Rescue??, in RoboCup 2012: Robot Soccer World Cup XVI, X.  Chen, Stone, P., Sucar, L. Enrique, and Zant, T., Eds. Berlin, Heidelberg: Springer, 2013, pp. 106?117.