The modeling is based on the analysis of relationship between data measured by multiple ultrasonic sensors and the environment characteristic information, the explored environment is modeled by line segments matching method.
Ligong Han (2021). Environment Modeling Based on Multiple Ultrasonic Sensors (https://www.mathworks.com/matlabcentral/fileexchange/42537-environment-modeling-based-on-multiple-ultrasonic-sensors), MATLAB Central File Exchange. Retrieved .
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