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@ARTICLE{blanco2008slm,
    author = {Blanco, José-Luis and Gonzalez-Jimenez, Javier and Fernández-Madrigal, Juan-Antonio},
     title = {Subjective Local Maps for Hybrid Metric-Topological SLAM},
   journal = {Robotics and Autonomous Systems},
    volume = {57},
    number = {1},
      year = {2009},
      issn = {0921-8890},
       url = {http://mapir.isa.uma.es/mrpt/index.php/Paper:Subjective_Local_Maps_for_Hybrid_Metric-Topological_SLAM},
       doi = {10.1016/j.robot.2008.02.002},
     pages = {64--74}
}