@incollection{Goormann09,
author = {Franz Andert and Lukas Goormann},
title = {Combining Occupancy Grids with a Polygonal Obstacle World Model for Autonomous Flights},
booktitle = {Aerial Vehicles},
publisher = {IntechOpen},
address = {Rijeka},
year = {2009},
editor = {Thanh Mung Lam},
chapter = {2},
doi = {10.5772/6465},
url = {https://doi.org/10.5772/6465}
}