S. Garrido, D. Blanco, M. Abderrahim, L. Moreno. Robot Navigation using Tube Skeletons and Fast Marching. ICAR 2009. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5174773. , ISBN: , pages: 1 - 7, . 2009-09-09, Munich, Alemania. 2009.