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This paper presents results from a four transducer pulse coded sonar system that performs target localisation in two dimensions and classification into planes, concave corners and convex edges whilst the sensor is in motion. On each sensing cycle two pulses are emitted from separate transmitters, and two receivers collect echoes that are processed using a DSP. The sensor achieves onthe-fly classification by transmitting nearly simultaneously from the two transmitters. The effects of sensordoi:10.1109/irds.2002.1041385 dblp:conf/iros/Kleeman02 fatcat:sy6dyshfyzgsroj2kk3foys4uq