Wullschleger, F.H.Arras, K.O.Vestli, S.J.2006-12-072006-12-072006-12-07199910.1109/EURBOT.1999.827621https://infoscience.epfl.ch/handle/20.500.14299/237491A Flexible Exploration Framework for Map Buildingtext::conference output::conference proceedings::conference paper