Navigation of a car-like mobile robot using a decomposition of the environment in convex cells. - Hubert A. Vasseur; François G. Pin; Jack R. Taylor (ICRA, 1991)

Navigation of car-like mobile robots in obstructed environments using convex polygonal cells. - Hubert A. Vasseur; François G. Pin; Jack R. Taylor (Robotics Auton. Syst., 1992)