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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}
}