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Terrain-Based Navigation for Underwater Vehicles Using an Ultrasonic Scanning System

John N. Lygouras, Vassilis Kodogiannis, Theodoros P. Pachidis, Panagiotis Liatsis. Terrain-Based Navigation for Underwater Vehicles Using an Ultrasonic Scanning System. Advanced Robotics, 22(11):1181-1205, 2008. [doi]

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