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@BOOK{,
     author = {Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
      title = {Multi-Hierarchical Representation of Large-Scale Space. Applications to Mobile Robots},
     series = {Intelligent Systems, Control and Automation: Science and Enginee},
     volume = {24},
       year = {2002},
  publisher = {Springer-Verlag},
       isbn = {978-1-4020-0105-5},
        url = {http://www.springer.com/west/home/generic/search/results?SGWID=4-40109-22-33689180-0}
}