Floreano, D.Godjevac, J.Martinoli, A.Mondada, F.Nicoud, J.D.2006-01-122006-01-122006-01-12199810.1007/978-94-011-4790-3_8https://infoscience.epfl.ch/handle/20.500.14299/221499Evolutionary RoboticsDesign, Control, and Applications of Autonomous Mobile Robotstext::book/monograph::book part or chapter