@article {1236,
	title = {Shortest Paths for Finned, Winged, Legged and Wheeled Vehicles with Side-Looking Sensors},
	journal = {International Journal of Robotics Research},
	volume = {31},
	year = {2012},
	pages = {997-1017},
	keywords = {Robotics},
	doi = {10.1177/0278364912446005},
	author = {P Salaris and L. Pallottino and A. Bicchi}
}
