Sonar sensing strategies. - Thomas C. Henderson; Beat D. Brüderlin; Mohamed Dekhil; Larry Schenkat; Larkin Veigel (ICRA, 1996)

Flat Surface Reconstruction Using Sonar. - Thomas C. Henderson; Mohamed Dekhil; Larry Schenkat; Larkin Veigel; Beat D. Brüderlin (Int. J. Robotics Res., 1998)