Estimating the Absolute Position of a Mobile Robot Using Position Probability Grids. - Wolfram Burgard; Dieter Fox; Daniel Hennig; Timo Schmidt (AAAI/IAAI, Vol. 2, 1996)

Fast Grid-Based Position TRacking for Mobile Robots. - Wolfram Burgard; Dieter Fox; Daniel Hennig (KI, 1997)