Learning the Voronoi centers of a mobile robot's configuration space

Nikos A. Vlassis, George K. Papakonstantinou, and Panayiotis D. Tsanakas
Proc. 3rd ECPD Int. Conf. Advanced Robots, Intel. Automation and Active Systems, Sep 1997, pp. 339–343
http://carol.wins.uva.nl/~vlassis/publications/papers/ecpd97.ps.gz

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