@article{Procopio-JFR-09,
   author = {Michael J. Procopio and Jane Mulligan and Greg Grudic},
   title = {Learning Terrain Segmentation with Classifier Ensembles for Autonomous Robot Navigation in Unstructured Environments},
   journal = {Journal of Field Robotics},
   volume = {26},
   number = {2},
   pages = {145--175},
   year = {2009},
   publisher = {Wiley Periodicals, Inc.},
   address = {Hoboken, NJ},
   doi = {http://dx.doi.org/10.1002/rob.20279}
}