Analysis and design of a robotic distance sensor. Partaatmadja, O., Benhabib, B., & Goldenberg, A. A. J. Field Robotics, 10(4):427–445, 1993.
Analysis and design of a robotic distance sensor [link]Paper  doi  bibtex   
@article{DBLP:journals/jfr/PartaatmadjaBG93,
  author       = {O. Partaatmadja and
                  Beno Benhabib and
                  Andrew A. Goldenberg},
  title        = {Analysis and design of a robotic distance sensor},
  journal      = {J. Field Robotics},
  volume       = {10},
  number       = {4},
  pages        = {427--445},
  year         = {1993},
  url          = {https://doi.org/10.1002/rob.4620100403},
  doi          = {10.1002/ROB.4620100403},
  timestamp    = {Sun, 28 May 2017 01:00:00 +0200},
  biburl       = {https://dblp.org/rec/journals/jfr/PartaatmadjaBG93.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

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