Real-Time Software for Mobile Robot Simulation and Experimentation in Cooperative Environments. - Andreu Corominas Murtra; Josep M. Mirats Tur; Oscar Sandoval Torres; Alberto Sanfeliu (SIMPAR, 2008)

Guiding and regrouping people missions in urban areas using cooperative Multi-Robot Task Allocation. - Anais Garrell; Josep Maria Mirats Tur; Oscar Sandoval Torres; Alberto Sanfeliu (ETFA, 2010)

Autonomous navigation for urban service mobile robots. - Andreu Corominas Murtra; Eduard Trulls; Oscar Sandoval Torres; Joan Pérez-Ibarz; Alejandro Dizan Vasquez Govea; Josep M. Mirats Tur; Miquel Ferrer; Alberto Sanfeliu (IROS, 2010)

Adaptive Multi Agent System for Guiding Groups of People in Urban Areas. - Anais Garrell; Oscar Sandoval Torres; Alberto Sanfeliu (PAAMS (Special Sessions), 2011)