Koji Kato Hiroshi Ishiguro Saburo Tsuji Obtaining Environment Model Using Behavior-Based Robot System. 352-355 1994 MVA http://b2.cvl.iis.u-tokyo.ac.jp/mva/proceedings/CommemorativeDVD/1994/papers/1994352.pdf conf/mva/1994 db/conf/mva/mva1994.html#KatoIT94