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2. T. Lozano-Perez, “Spatial Planning: A Configuration Space Approach,” AI Memo 605, Cambridge, Mass., MIT Artificial Intelligence Laboratory, 1980.
3. R. Chatila, Système de Navigation pour un Robot Mobile Autonome: Modélisation et Processus Décisionnels,“ Thése de Docteur-Ingénieur, Université Paul Sabatier, Toulouse, France, 1981.
4. R. Brooks, “Solving the Find-Path Problem by Good Representation of Free Space,” IEEE Systems, Man and Cybernetics, SMC-13, pp. 190–197, 1983.
5. R. Brooks, “Aspects of Mobile Robot Visual Map Making,” Second International Symposium of Robotics Research, Kyoto, Japan, Aug. 20–23, 1984.