@ARTICLE{c.gómez2017atopologicalnavigation, TITLE = {A Topological Navigation System for Indoor Environments based on Perception Events}, JOURNAL = {International Journal of Advanced Robotic Systems}, VOLUME = {}, NUMBER = {}, PAGES = { - }, YEAR = {2017}, AUTHOR = {C. Gómez, A. C. Hernández, J. Crespo, R. Barber} }