title = {Learning the Voronoi centers of a mobile robot's configuration space},
author = {Nikos A. Vlassis and George K. Papakonstantinou and Panayiotis D. Tsanakas},
booktitle = {Proc. 3rd ECPD Int. Conf. Advanced Robots, Intel. Automation and Active Systems},
pages = {339--343},
month = {Sep},
year = {1997},
url = {http://carol.wins.uva.nl/~vlassis/publications/papers/ecpd97.ps.gz}}

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