... Borenstein, J. and Koren, Y., 1985, "A Mobile Platform For Nursing Robots. " IEEETransactions on Industrial Electronics, Vol. 32, No. 2, pp. 158 -165.Paper 02 Borenstein, J. and Koren, ... Measurement and Control, Vol. 109, No.2, pp. 73-79.Paper 10 Borenstein, J. and Koren, Y., 1989, "Real-time Obstacle Avoidance for Fast Mobile Robots. " IEEE Transactions on Systems, Man, and ... 1179-1187. Paper 16 Borenstein, J. and Koren, Y., 1991, "The Vector Field Histogram Fast Obsta-cle-Avoidance for Mobile Robots. " IEEE Journal of Robotics and Automation, Vol. 7,No. 3.,...