@article {731, title = {Advanced adaptive sonar for mapping applications.}, journal = {Journal of Intelligent \& Robotic Systems.}, volume = {55}, year = {2009}, month = {10/2009}, pages = {81-106}, issn = {0921-0296}, author = {{\'A}lvaro Hern{\'a}ndez and Ure{\~n}a, J. and Manuel Mazo and J.J. Garcia and Ana Jimenez and Jose Antonio Jimenez and Mar{\'\i}a del Carmen P{\'e}rez and Fernando J. {\'A}lvarez and Carlos De Marzziani and Jean Pierre Derutin and Jocelyn S{\'e}rot} }