@inproceedings{Ozkil2010Empirical, title={Empirical evaluation of a practical indoor mobile robot navigation method using hybrid maps}, author={Ozkil, A. G and Fan, Zhun and Xiao, Jizhong and Kristensen, J. K}, booktitle={Ieee/rsj International Conference on Intelligent Robots and Systems}, pages={2521-2522}, year={2010}, }