A. Medina-Santiago, J. L. Camas-Anzueto, J. A. Vazquez-Feijoo, H. R. Hernández-de León, and R. Mota-Grajales, “Neural Control System in Obstacle Avoidance in Mobile Robots Using Ultrasonic Sensors”, JART, vol. 12, no. 1, Feb. 2014.