„… measurements to closest boundaries, which simplifies tasks like online creation of potential fields [24], • the …” „… representation [41], see Fig. 5.2e.3 Here, all cells in the occupancy grid that belong to the same potential …” „… . Parameter Value Grid size; Cell length c 80m x 80m; 0.16m SM;mth; rSE;Nb; ln 3 cells x 3 cells; 0.7; 1.1m …”