Tokunaga, Kazuhiro, and Tetsuo Furukawa. “Building a Cognitive Map Using an SOM2”. Journal of Automation, Mobile Robotics and Intelligent Systems 4, no. 2 (January 22, 2013): 39–47. Accessed May 15, 2024. https://www.jamris.org/index.php/JAMRIS/article/view/118.