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@INPROCEEDINGS{,
     author = {Gonzalez-Jimenez, Javier and Ollero, Anibal and Hurtado, P.},
      title = {Local Map Building for Mobile Robot Autonomous Navigation by using a 2D Laser  Range Sensor},
  booktitle = {IFAC World Congress},
       year = {1993},
   location = {Sydney, Australia}
}