王璐, 蔡自兴. 未知环境中移动机器人并发建图与定位（CML）的研究进展[J]. 机器人, 2004, 26(4): 380-384..
WANG Lu, CAI Zi-xing. Progress of CML for Mobile Robots in Unknown Environments. ROBOT, 2004, 26(4): 380-384..
Abstract：This paper sketches some popular methods of CML(Concurrent Mapping and Localization) in recent years, puts emphasis on comparing their processes of estimation and incremental mapping, and ways to deal with uncertain information and to represent maps. The difficult points of CML are analyzed, and the trends of research in the future are discussed.
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