@ARTICLE{j.crespo2014algorithmforgraph,
TITLE = {Algorithm for Graph Visibility Obtainment from a Map of Non-Convex Polygons},
JOURNAL = {Journal of Mechanical Engineering and Robotics Research },
VOLUME = {3},
NUMBER = {2},
PAGES = {150 - 170},
YEAR = {2014},
AUTHOR = {J. Crespo, R. Barber, A. Jardon, J.G. Victores}
}