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@ARTICLE{,
author = {Galindo, Cipriano and Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier and Saffiotti, Alessandro and Buschka, Par},
title = {Life-Long Optimization of the Symbolic Model of the Environment of a Mobile Robot},
journal = {IEEE Transactions on Systems, Man, and Cybernetics part B},
volume = {37},
number = {5},
year = {2007},
doi = {10.1109/TSMCB.2007.900074},
pages = {1290--1304}
}