@BOOK{d.blanco2005innovationsinrobot, CHAPTER = {Voronoi-based outdoor traversable region modelling}, TITLE = {Innovations in Robot Mobility and Control}, PUBLISHER = {Springer-Verlag}, ISBN = {3-540-26892-8}, CITY = {}, PAGES = {201 - 250}, YEAR = {2005}, AUTHOR = {D. Blanco, L. Moreno} }