@phdthesis{deHoog2011PhD,
  title = "Role-Based Multi-Robot Exploration",
  author = "Julian de Hoog",
  year = "2011",
  institution = "Department of Computer Science",
  school = "University of Oxford",
  url = "http://www.juliandehoog.com/publications/2011_PhD_deHoog_RoleBasedExploration.pdf",
}