Andrew Howard Michael Turmon Larry Matthies Benyang Tang Anelia Angelova Eric Mjolsness Towards learned traversability for robot navigation: From underfoot to the far field. 1005-1017 2006 23 J. Field Robotics 11-12 http://dx.doi.org/10.1002/rob.20168 db/journals/jfr/jfr23.html#HowardTMTAM06