5Barshan, Billur. Fast processing techniques for accurate ultrasonic range measurements[J]. Measurement Science and Technology, 2000,11 (1) : 45 - 50
6A, Tikanmki, T. Mkel, A. Pietikinen, S. Srkk, S. Seppnen, and J. Rning (Finland). Multi- Robot System for Exploration in an Outdoor Environment[J]. Robotics and Applications and Telematics , 2007,9 (1): 563- 567
7Guangzhi Dai. Tiequn Chen. Design on Measurement and Control System of Cleaning Robot Based on Sensor Array detection[C]. Control and Automation, 2007. ICCA 2007. IEEE International Conference on Volume , Issue , 2007,5 : 1319-1322
