Workspace mapping based on multisensor information fusion using heterogeneous onboard sensors. - Masamichi Miyake; Hiroyuki Takai; Keihachiro Tachibana (Artif. Life Robotics, 2009)

Obstacle arrangement detection using multichannel ultrasonic sonar for indoor mobile robots. - Kiyoshi Okuda; Masamichi Miyake; Hiroyuki Takai; Keihachiro Tachibana (Artif. Life Robotics, 2010)