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AI Magazine, Vol. 9, 2 (1998), pp. 25--43. Reprinted in Advances in Spatial Reasoning, Volume 2, Su-shing Chen (Ed.), Norwood NJ: Ablex Publishing, 1990.

@article{kuipers:aimag98, title={Navigation and mapping in large scale space}, author={Benjamin J. Kuipers and T. Levitt}, volume={9}, journal={AI Magazine}, number={2}, month={Summer}, pages={25--43}, note={Reprinted in Advances in Spatial Reasoning, Volume 2, Su-shing Chen (Ed.), Norwood NJ: Ablex Publishing, 1990}, url="http://www.cs.utexas.edu/users/ai-lab?kuipers:aimag98", year={1998} }