Soto, L.E.R.L.E.R.SotoCHENG-YUAN LIOU2018-09-102018-09-102006http://www.scopus.com/inward/record.url?eid=2-s2.0-77954064024&partnerID=MN8TOARShttp://scholars.lib.ntu.edu.tw/handle/123456789/323021The hierarchical map forming modelconference paper2-s2.0-77954064024