Building a mobile robot for a floor-cleaning operation in domestic environments. - Jordi Palacín; José Antonio Salse; Ignasi Valgañón; Xavi Clua (IEEE Trans. Instrum. Meas., 2004)

Measuring Coverage Performances of a Floor Cleaning Mobile Robot Using a Vision System. - Jordi Palacín; Tomàs Pallejà; Ignasi Valgañón; Ramón Pernia; Joan Roca (ICRA, 2005)