Christopher R. Baker Aaron Morris David I. Ferguson Scott Thayer Warren Whittaker Zachary Omohundro Carlos F. Reverte Dirk Hähnel Sebastian Thrun A Campaign in Autonomous Mine Mapping. 2004-2009 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1308118 db/conf/icra/icra2004-2.html#BakerMFTWORHT04