Autonomous navigation of indoor mobile robots using a global ultrasonic system

@article{Yi2004AutonomousNO,
  title={Autonomous navigation of indoor mobile robots using a global ultrasonic system},
  author={Soo-Yeong Yi and Byoung-Wook Choi},
  journal={Robotica},
  year={2004},
  volume={22},
  pages={369-374}
}
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