Searching Unknown Environment By A Mobile Robot Using Range Sensor -an Algorithm and Experiment. - Jun'ichi Iijima; Shun'ichi Asaka; Shin'ichi Yuta (IROS, 1989)

A Method of Piloting an Autonomous Mobile Robot in Dynamically Changing Environment Including Moving Obstacles. - Shigeki Ishikawa; Shun'ichi Asaka (J. Robotics Mechatronics, 1996)