Multi-Robot Exploration

Hello, I am developing new algorithms for coordinating a team of robots in order to make them to explore an unknown area efficiently. Basicaly, I
want the robots to find victims, which are randomly placed in an unknown map. I have a paper in IROS 2004 in which I explain how to use a clusterization algorithm to distribute the robots among the unknown space.
http://www.etse.urv.es/recerca/rivi/pub/plan/iros04b.pdf
In the article, I show that the presented method is better than others but now I want to demonstrate it stocasticaly.
Is there anyone who can give me information about this statistical methods? I mean,     a) which is the best one?, if any.     b) Where can I find papers using this kind of methods?     c) Is there any other kind of method to do the same?
Thank you in advance.
-- Agusti Solanas Intelligent Robotics and Computer Vision Group Rovira i Virgili University Campus Sescelades Av. Paisos Catalans 26 43007 Tarragona, Spain E-mail: snipped-for-privacy@ieee.org snipped-for-privacy@etse.urv.es
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