Intelligent Control of Mobile Robot by Using the 3D-Ultrasonic-Sensor under the Environment Model. Proceedings of IEEE International Workshop on Intelligent Signal Processing. 1999. 249-254
YAO F. H. Development of 3D-Ultrasonic-Sensor and Its application to the Construction of Large-Scale Environment Model. Proceedings of 30th International Symposium on Robotics. 1999. 305-310