Supporting real-time update of an environment representation for autonomous mobile robots. - Gunter Magin; Achim Ruß (RTS, 1994)

A dynamic 3D environmental model with real-time access functions for use in autonomous mobile robots. - Gunter Magin; Achim Ruß; Darius Burschka; Georg Färber (Robotics Auton. Syst., 1995)