# Multi-Ray Modeling of Ultrasonic Sensors and Application for Micro-UAV Localization in Indoor Environments

> Research article (Sensors, 2019) · cited 33× · AI/ML

**Wikidata**: [openalex:W2937633511](https://www.wikidata.org/wiki/openalex:W2937633511)  
**Source**: https://4ort.xyz/entity/multi-ray-modeling-of-ultrasonic-sensors-and-application-for-micro-uav-localization-in-indoor-environments