@InProceedings{GiguereIcra09,
  author = {Philippe Giguere and Gregory Dudek},
  title = {Surface Identification Using Simple Contact Dynamics for Mobile Robots},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
  year = 	{2009},
  address =	{Kobe, Japan},
  month =	{May}
}