@CONFERENCE{a.mora2022segmentingmapsby, TITLE = {Segmenting Maps by Analyzing Free and Occupied Regions with Voronoi Diagrams}, BOOKTITLE = { Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO.}, CONGRESS = {International Conference on Informatics in Control, Automation and Robotics (ICINCO),}, DATE = {2022-07-15 00:00:00}, CITY = {Lisboa}, COUNTRY = {Portugal}, ISBN = { 978-989-758-585-2}, PUBLISHER = {SciTePress}, PAGES = {395 - 402}, YEAR = {2022}, AUTHOR = {A. Mora, A. Prados, R. Barber} }