Cyrill Stachniss Christian Plagemann Achim J. Lilienthal Wolfram Burgard Gas Distribution Modeling using Sparse Gaussian Process Mixture Models. 2008 Robotics: Science and Systems http://www.roboticsproceedings.org/rss04/p40.html https://doi.org/10.15607/RSS.2008.IV.040 conf/rss/2008 db/conf/rss/rss2008.html#StachnissPLB08