Sure. We started doing this last summer, and this is the first paper accepted for publication that uses the method.<p><a href="http://autonomy.cs.sfu.ca/doc/wawerla_icra10.pdf" rel="nofollow">http://autonomy.cs.sfu.ca/doc/wawerla_icra10.pdf</a><p>and here's a draft of our paper on the methodology, with rationale.<p>Long paper: <a href="http://autonomy.cs.sfu.ca/doc/wawerla_submitted_2009.pdf" rel="nofollow">http://autonomy.cs.sfu.ca/doc/wawerla_submitted_2009.pdf</a><p>Original short workshop paper:<p><a href="http://autonomy.cs.sfu.ca/doc/wawerla_rss09_workshop.pdf" rel="nofollow">http://autonomy.cs.sfu.ca/doc/wawerla_rss09_workshop.pdf</a><p>For context, here's the lab's publication list:<p><a href="http://autonomy.cs.sfu.ca/publications.html" rel="nofollow">http://autonomy.cs.sfu.ca/publications.html</a><p>We plan to continue this, even if the idea doesn't catch on.