• A provably complete exploration strategy by constructing Voronoi diagrams 

      Kim, Jonghoek; Zhang, Fumin; Egerstedt, Magnus B. (Georgia Institute of TechnologySpringer Verlag, 2010)
      We present novel exploration algorithms and a control law that enables the construction of Voronoi diagrams over unknown areas using a single vehicle equipped with range sensors. The control law uses range measurements ...