Autonomous Robot Navigation. Jorgensen, C., Hamel, W., & Wiesbin, C. j-BYTE, January, 1986.
bibtex   
@Article{RSM:Jor86,
  author =       "C. Jorgensen and W. Hamel and C. Wiesbin",
  title =        "Autonomous Robot Navigation",
  journal =      j-BYTE,
  year =         "1986",
  month =        jan,
  pages =        "223--236",
  robnote =      "Teaching robots to look before they leap. one of a
                 series on robotics and machine learning., NumMath012",
}

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