A.  Talukder, Manduchi, R., Castano, R., Owens, K., Matthies, L., Castano, A., and Hogg, R., 
“Autonomous terrain characterisation and modelling for dynamic control of unmanned vehicles”, in 
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and System (IROS 2002), 2002, vol. 1, pp. 708–713.