Robust and efficient multi-robot 3D mapping with octree based occupancy grids. - James P. Jessup; Sidney Nascimento Givigi; Alain Beaulieu (SMC, 2014)

Merging of octree based 3D occupancy grid maps. - James P. Jessup; Sidney N. Givigi; Alain Beaulieu (SysCon, 2014)

Robust and Efficient Multirobot 3-D Mapping Merging With Octree-Based Occupancy Grids. - James P. Jessup; Sidney N. Givigi; Alain Beaulieu (IEEE Syst. J., 2017)