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![Cover for John J. Leonard · Directed Sonar Sensing for Mobile Robot Navigation - The Springer International Series in Engineering and Computer Science (Paperback Book) [Softcover reprint of the original 1st ed. 1992 edition] (2012)](https://imusic.b-cdn.net/images/item/original/256/9781461366256.jpg?john-j-leonard-2012-directed-sonar-sensing-for-mobile-robot-navigation-the-springer-international-series-in-engineering-and-computer-science-paperback-book&class=scaled&v=1499515456)
![Cover for John J. Leonard · Directed Sonar Sensing for Mobile Robot Navigation - The Springer International Series in Engineering and Computer Science (Hardcover Book) [1992 edition] (1992)](https://imusic.b-cdn.net/images/item/original/422/9780792392422.jpg?john-j-leonard-1992-directed-sonar-sensing-for-mobile-robot-navigation-the-springer-international-series-in-engineering-and-computer-science-hardcover-book&class=scaled&v=1410225871)