Jan Brunner Matús Mihalák Subhash Suri Elias Vicari Peter Widmayer Simple Robots in Polygonal Environments: A Hierarchy. 111-124 2008 ALGOSENSORS http://dx.doi.org/10.1007/978-3-540-92862-1_10 conf/algosensors/2008 db/conf/algosensors/algosensors2008.html#BrunnerMSVW08