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Kuc, R. and Barshan, B., 1989, "Navigating Vehicles Through an Unstructured Environment With Sonar," Proceedings of the IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, May 14-19, pp. 1422-1426
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Crowley, J. L., 1989, "World Modeling and Position Estimation for a Mobile Robot Using Ultrasonic Ranging," Proceedings of the 1989 IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, May 14-19, pp. 674-680
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Moravec, H. P., 1988, "Sensor Fusion in Certainty Grids for Mobile Robots," AI Magazine, Summer, pp. 61-74
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Buchenberger, M., Jörg, W., and Von Puttkamer, E., 1993, "Laserradar and Sonar-based World Modelling," IEEE Conference on Robotics and Automation, Atlanta Georgia, May 10-15, pp. 534-541
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Everett, H. R., Gilbreath, G. A., Tran, T. and Nieusma, J. M., 1990, "Modeling the Environment of a Mobile Security Robot," Technical Document 1835, Advanced Systems Division, Naval Ocean Systems Center, San Diego, California 92152-5000, June
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Flynn, A. M., 1988, "Combining Sonar and Infrared Sensors for Mobile Robot Navigation," The International Journal of Robotics Research, Vol. 7, No. 6, December, pp. 5-14
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Borenstein, J. and Koren, Y., 1988, "Obstacle Avoidance With Ultrasonic Sensors." IEEE Journal of Robotics and Automation, Vol. RA-4, No. 2, pp. 213-218
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Bozma, Ö. and Kuc, R., 1991, "Characterizing Pulses Reflected From Rough Surfaces Using Ultrasound." Journal of the Acoustical Society of America, Vol. 89, No. 6, pp. 2519-2531
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