?url_ver=Z39.88-2004&rft_id=10.1109%2FROMA.2016.7847825&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Abdelrasoul%2C+Y.&rft.aulast=Abdelrasoul&rft.aufirst=Y.&rft.isbn=9781509009282&rft.date=2017&rft.title=A+quantitative+study+of+tuning+ROS+gmapping+parameters+and+their+effect+on+performing+indoor+2D+SLAM&rft.genre=proceeding