年度	2009
全部作者	宋开泰
论文名称	Kai-Tai Song and C. C. Chen, “ Application of Heuristic Asymmetric Mapping for Mobile Robot Navigation Using Ultrasonic Sensors, ” Journal of Intelligent & Robotic Systems , Vol. 17, No. 3, pp. 243-264, Nov. 1996.
发表日期	2009-02-02