A performance metric for mobile robot localization. - Antonio Ruiz-Mayor; Gracián Triviño; Gonzalo Bailador (ICINCO-RA, 2006)

Approximate robotic mapping from sonar data by modeling perceptions with antonyms. - Sergio Guadarrama; Antonio Ruiz-Mayor (Inf. Sci., 2010)

Perceptual ambiguity maps for robot localizability with range perception. - Antonio Ruiz-Mayor; Juan-Carlos Crespo; Gracián Triviño (Expert Syst. Appl., 2017)