Sonar based map building for a mobile robot. - Kok Seng Chong; Lindsay Kleeman (ICRA, 1997)

Accurate odometry and error modelling for a mobile robot. - Kok Seng Chong; Lindsay Kleeman (ICRA, 1997)

Indoor exploration using a sonar sensor array: a dual representation strategy. - Kok Seng Chong; Lindsay Kleeman (IROS, 1997)

Feature-Based Mapping in Real, Large Scale Environments Using an Ultrasonic Array. - Kok Seng Chong; Lindsay Kleeman (Int. J. Robotics Res., 1999)

Mobile-Robot Map Building from an Advanced Sonar Array and Accurate Odometry. - Kok Seng Chong; Lindsay Kleeman (Int. J. Robotics Res., 1999)