Kortenkamp, D., Bonasso, R.,P., Murphy, R. Artifical Intelligence and Mobile
Robots,, USA, 1998, ISBN 0-262-61137-6
Chester, M. Neural Networks. Prentice Hall, 1993, p.180, ISBN 0-13-368903-4
Hagan, M.,T., Demuth H.,B., Beale M. Neural Network Design. PWS Publishing
Company, Boston, USA, 1996, ISBN 0-534-94332-2 .
Schraft, R., D., Schmierer, G. Serviceroboter. SRN, 1998, ISBN 3-540-64330-3
Schilling, R., J. Fundamentals of Robotics, Analysis and Control. USA, 1990