Stefano Carpin, Itsuki Noda, Enrico Pagello, Monica Reggiani, Oskar von Stryk: Simulation, Modeling, and Programming for Autonomous Robots, First International Conference, SIMPAR 2008, Venice, Italy, November 3-6, 2008. Proceedings. Lecture Notes in Computer Science 5325, Springer 2008, ISBN 978-3-540-89075-1