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@INPROCEEDINGS{,
     author = {Gonzalez-Jimenez, Javier and Ollero, Anibal and Reina, Antonio},
      title = {Map Building  for a Mobile Robot equipped with a Laser  Range Scanner},
  booktitle = {IEEE Int. Conference on Robotics and Automation (ICRA’94)},
       year = {1994},
   location = {San Diego, USA}
}