@article{occupancygridsastochasticspatial,
  title = {Occupancy Grids: A Stochastic Spatial Representation for Active Robot Perception},
  author = {A. Elfes},
  year = {2013},
  eprint = {1304.1098},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1304.1098v1},
}