Neural fuzzy techniques in sonar-based collision avoidance
@InCollection{ahrns98book,
  author = 	 {I. Ahrns and J. Bruske and G. Hailu and G. Sommer},
  booktitle = 	 {Soft Computing for Intelligent Robotic Systems},
  title = 	 {Neural fuzzy techniques in sonar-based collision avoidance},
  publisher = 	 {Physica-Verlag (Springer)},
  year = 	 1998,
  editor =	 {L.C. Jain and T. Fukuda},
  series =	 {Studies in Fuzziness and Soft Computing},
  pages =	 {185-214}
}