@article{plonski2016environment,
  title={Environment and solar map construction for solar-powered mobile systems},
  author={Plonski, Patrick A and Vander Hook, Joshua and Isler, Volkan},
  journal={IEEE Transactions on Robotics},
  volume={32},
  number={1},
  pages={70--82},
  year={2016},
  publisher={IEEE}
}