A Miniature Robotic System for Reconnaissance and Surveillance. - Dean F. Hougen; Saifallah Benjaafar; Jordan Bonney; John Budenske; Mark Dvorak; Maria L. Gini; Howard French; Donald G. Krantz; Perry Y. Li; Fred Malver; Bradley J. Nelson; Nikolaos Papanikolopoulos; et al. (ICRA, 2000)