Álvaro Hernández Jesús Ureña Manuel Mazo Juan Jesús García Ana Jiménez José Antonio Jiménez María del Carmen Pérez Fernando J. Álvarez Carlos De Marziani Jean-Pierre Dérutin Jocelyn Sérot Advanced Adaptive Sonar for Mapping Applications. 81-106 2009 55 Journal of Intelligent and Robotic Systems 1 http://dx.doi.org/10.1007/s10846-008-9291-9 db/journals/jirs/jirs55.html#HernandezUMGJJPAMDS09