@InProceedings{Rekleitis2004a,
 author = 	 {David Silver and Deryck Morales and Ioannis Rekleitis and Brad Lisien and Howie Choset},
 title = 	 {Arc Carving: Obtaining Accurate, Low Latency Maps from Ultrasonic Range Sensors},
 booktitle =	 {IEEE International Conference on Robotics and Automation},
 pages =	 {1554-1561},
 year =	 2004,
 address =	 {New Orleasn, LA},
 month =	 {April}
}