00371nas a2200133   4500000000100000000000100001008004100002260003300043100001500076700001200091700001900103700001900122245009600141       2012                            d  bSpringeraBerlin, Heidelberg1 aI-Hsum Lee1 aMing Lu1 aChen-Chien Hsu1 aShih-Shiun Lin00aMap Building of Unknown Environment Based on Fuzzy Sensor Fusion of Ultrasonic Ranging Data