Incremental topological modeling using local Voronoi-like graphs. - Dominique Van Zwynsvoorde; Thierry Siméon; Rachid Alami 001 (IROS, 2000)

Building Topological Models for Navigation in Large Scale Environments. - Dominique Van Zwynsvoorde; Thierry Siméon; Rachid Alami 001 (ICRA, 2001)