@conference{150261,
  author = {John Horst},
  title = {Maintaining multi-level planar maps in intelligent systems},
  year = {1996},
  month = {1996-04-26},
  publisher = {Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN},
  url = {https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820548},
  language = {en},
}