@article{caldeira_schneebeli_sarcinelli-filho_2007,  title={An optical flow-based sensing system for reactive mobile robot navigation},  volume={18},  ISSN={0103-1759},  url={https://doi.org/10.1590/S0103-17592007000300001},  DOI={10.1590/S0103-17592007000300001},  number={3},  journal={Sba: Controle & Automação Sociedade Brasileira de Automatica},  publisher={Sociedade Brasileira de Automática},  author={Caldeira, Eliete Maria de Oliveira and Schneebeli, Hans Jörg Andreas and Sarcinelli-Filho, Mário},  year={2007},  month={Jul},  pages={265–277} }