Learning Geometrically-Constrained Hidden Markov Models for Robot Navigation: Bridging the Topological-Geometrical Gap.

Hagit Shatkay Leslie Pack Kaelbling Learning Geometrically-Constrained Hidden Markov Models for Robot Navigation: Bridging the Topological-Geometrical Gap. 167-207 2002 16 J. Artif. Intell. Res. (JAIR) http://www.cs.washington.edu/research/jair/abstracts/shatkay02a.html db/journals/jair/jair16.html#ShatkayK02