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Jacoff, A., Messina, E., Weiss, B., Tadokoro, S. and Nakagawa, Y. (2003) Test Arenas and Performance Metrics for Urban Search and Rescue Robots. Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 27-31 October 2003, 3396-3403. http://dx.doi.org/10.1109/IROS.2003.1249681

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