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Dhariwal, Amit; Sukhatme, Gaurav S.; Requicha, Aristides A. G.: Bacterium-inspired Robots for Environmental Monitoring. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA, pp. 1436-1443, IEEE, 2004