@ARTICLE{s.garrido2008explorationofa,
TITLE = {Exploration of a Cluttered Environment using Voronoi Transform and Fast Marching Method},
JOURNAL = {Robotics and Autonomous Systems. ISSN: 0921-8890.  <a href="http://dx.doi.org/10.1016/j.robot.2008.02.003">http://dx.doi.org/10.1016/j.robot.2008.02.003</a>},
VOLUME = {56},
NUMBER = {12},
PAGES = {1069 - 1081},
YEAR = {2008},
AUTHOR = {S. Garrido, D. Blanco, L. Moreno}
}