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Ultrasonic sensors suffer from several drawbacks such as bandwith and cross-sensivity. Published accuracy values for ultrasonics are based on perpendicular reflections of the sound wave off an acoustically reflective material. Narrow opening angle for the sound beam in order to obtain precise directional information about objects that are encountered, you cannot acquire depth data points but rather entire regions of constant depth this means the sensors tell us only that there is a object at the area of the measurement cone. If two or more sonar's are fired together then they could pick up each other "ping" resulting in a false readings. These limitations make ultrasonic rangers bad map builders in my opinion. Hope helps you