Multirobot exploration for search and rescue missions: A report on map building in RoboCupRescue 2009.
Keiji NagataniYoshito OkadaNaoki TokunagaSeiga KiribayashiKazuya YoshidaKazunori OhnoEijiro TakeuchiSatoshi TadokoroHidehisa AkiyamaItsuki NodaTomoaki YoshidaEiji KoyanagiPublished in: J. Field Robotics (2011)
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