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@techreport{Andersson:4096,
    author =       "Andersson, Mikael and Westman, Peter ",
    title =        "Design of behavior classifying and tracking system with sonar",
    institution =       "Department of Electrical Engineering, Linköping University",
    year =          "2008",
    number =          "LiTH-ISY-EX-4096"
}