Multi-Robot Localization and Mapping Based on Signed Distance Functions. - Philipp Koch; Stefan May; Michael Schmidpeter; Markus Kühn; Christian Pfitzner; Christian Merkl; Rainer Koch; Martin Fees; Jon Martin; Daniel Ammon; Andreas Nüchter (J. Intell. Robotic Syst., 2016)

Random Normal Matching: A robust probability-based 2D scan matching approach using truncated signed distance functions. - Daniel Ammon; Tobias Fink; Stefan May (ICARSC, 2017)