Gorka Azkune Mikel Astiz Urko Esnaola Unai Antero Jose Vicente Sogorb Antonio Alonso A Navigation System for a High-Speed Professional Cleaning Robot. 24-35 2011 TAROS http://dx.doi.org/10.1007/978-3-642-23232-9_3 conf/taros/2011 db/conf/taros/taros2011.html#AzkuneAEASA11