@article{leetemplates2008,
 author = {Jusuk Lee and Simon N. Sponberg and Owen Y. Loh and Andrew Lamperski and Robert J. Full and Noah J. Cowan},
 title = {Templates and Anchors for Antenna-Based Wall Following in Cockroaches and Robots},
 journal = {IEEE Transactions on Robotics (Special Issue on Bio-Robotics)},
 volume = {5},
 number = {1},
 pages = {130-143},
 year = {2008}
}