Structured triangulation in multi-robot systems: Coverage, patrolling, Voronoi partitions, and geodesic centers

Seoung Kyou Lee, Sándor P. Fekete, James McLurkin. Structured triangulation in multi-robot systems: Coverage, patrolling, Voronoi partitions, and geodesic centers. I. J. Robotic Res., 35(10):1234-1260, 2016. [doi]

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