Robuta

https://www.mdpi.com/1424-8220/23/3/1613
Occupancy grid maps are widely used as an environment model that allows the fusion of different range sensor technologies in real-time for robotics...
vehicle detectionoccupancy gridmapscomparisonfive
https://www.eclipse.org/lists/sumo-user/msg12948.html
sumousergridoccupancytrajectory
https://www.eclipse.org/lists/sumo-user/msg12920.html
sumousergridoccupancytrajectory