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Terrain models for an autonomous land vehicle:

, In: Proceedings. 1986 IEEE International Conference on Robotics and Automation,
Lawton, D. ; Levitt, T. ; McConnell, C.. - p. 2043,2044,2045,2046,2047,2048,2049,2050,2051 , 1986
Link: https://doi.org/10.1109/ROBOT.1986.1087460