Pierre Sermanet Raia Hadsell Marco Scoffier Urs Muller Yann LeCun Mapping and planning under uncertainty in mobile robots with long-range perception. 2525-2530 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4651203 conf/iros/2008 db/conf/iros/iros2008.html#SermanetHSML08