https://dspace.mit.edu/bitstream/handle/1721.1/73150/Teller_Ground%20robot%20navigation.pdf https://dspace.mit.edu/bitstream/handle/1721.1/73150/Teller_... ICR

https://dspace.mit.edu/bitstream/handle/1721.1/73150/Teller_Ground%20robot%20navigation.pdf https://dspace.mit.edu/bitstream/handle/1721.1/73150/Teller_... ICRA, 2010