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Analysis and design of human-robot swarm interaction in firefighting., , , and . RO-MAN, page 255-260. IEEE, (2008)Designing user interaction with robots swarms in emergency settings., and . NordiCHI, volume 358 of ACM International Conference Proceeding Series, page 519-522. ACM, (2008)Viscosity as a metaphor for measuring modifiability., and . Software Engineering - IEE Proceedings, 144 (4): 215-223 (1997)Usability requirements as specification constrains: an example of WYSIWYG., and . Software Engineering - IEE Proceedings, 144 (2): 101-110 (1997)User Centred System Modelling using the Template Model., and . DSV-IS, page 401-412. Springer, (1994)Cognitive dimensions: Achievements, new directions, and open questions., , , , and . J. Vis. Lang. Comput., 17 (4): 328-365 (2006)User interfaces for robots swarm assistance in emergency settings., and . BCS HCI, page 324-328. ACM, (2009)