@ARTICLE{s.garrido2009explorationof2d,
TITLE = {Exploration of 2D and 3D Environments using Voronoi Transform and Fast Marching Method.  },
JOURNAL = {JOURNAL OF INTELLIGENT AND ROBOTIC SYSTEMS.  <a href="http://dx.doi.org/10.1007/s10846-008-9293-7">http://dx.doi.org/10.1007/s10846-008-9293-7</a>},
VOLUME = {55},
NUMBER = {1},
PAGES = {55 - 86},
YEAR = {2009},
AUTHOR = {S. Garrido, D. Blanco, L. Moreno}
}