Sensor based navigation for car-like mobile robots using generalized Voronoi graph. - Keiji Nagatani; Yosuke Iwai; Yutaka Tanaka (IROS, 2001)

Sensor-based navigation for car-like mobile robots based on a generalized Voronoi graph. - Keiji Nagatani; Yosuke Iwai; Yutaka Tanaka (Adv. Robotics, 2003)