Alex Goldhoorn Arnau Ramisa Ramon López de Mántaras Ricardo Toledo Using the Average Landmark Vector Method for Robot Homing. 331-338 2007 CCIA conf/ccia/2007 db/conf/ccia/ccia2007.html#GoldhoornRMT07 http://www.booksonline.iospress.nl/Content/View.aspx?piid=7684