[TSI Press Fifth Biannual World Automation Congress (WAC 2002) ISORA 2002, ISIAC 2002 and ISOMA 2002. Robotics Manufacturing Automation and Control. Vol.14. - Orlando, FL, USA (9-13 June 2002)] Proceedings of the 5th Biannual World Automation Congress - Cooperative robotic map correlation from relative position and terrain slope measurements