S. Fekete, R. Klein, and A. Nüchter. Algorithmic Foundations of Robotics VI, STAR 17 (Proceedings of the 6th International Workshop on the Algorithmic Foundations of Robotics (WAFR '04)), volume 17 of Springer Tracts in Advanced Robotics, page 139--154. Zeist/Utrecht, The Netherlands, (July 2004)
DOI: 10.1007/10991541_11
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