Xinde Li and  Xinhan Huang and  Min Wang,  Robot Map Building from Sonar and Laser Information using DSmT with Discounting Theory.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    July 2007, vol. 7(7). 349 - 356
    [viewed 27 September 2020]. Available from: https://publications.waset.org/pdf/4001.