@article {Stewart1996,
	title = {{Three-dimensional stochastic modeling using sonar sensing for undersea robotics}},
	journal = {Autonomous Robots},
	volume = {3},
	number = {2-3},
	year = {1996},
	pages = {121{\textendash}143},
	issn = {0929-5593},
	doi = {10.1007/BF00141151},
	url = {http://dx.doi.org/10.1007/BF00141151},
	author = {Stewart, W K}
}
