Line Segment Based Scan Matching for Concurrent Mapping and Localization of a Mobile Robot. - Tahir Yaqub; Michal J. Tordon; Jayantha Katupitiya (ICARCV, 2006)

Development of a Parametric Model for the Environment of a Mobile Robot. - Tahir Yaqub; Ray Eaton; Jayantha Katupitiya (IROS, 2006)

Parametric Representation of the Environment of a Mobile Robot for Measurement Update in a Particle Filter. - Tahir Yaqub; Jayantha Katupitiya (RoMoCo, 2007)

Mobile robot motion, perception and environment modelling. - Tahir Yaqub (2008)