Juan C. Alvarez Rafael C. Gonzalez Diego Alvarez Andrei M. Shkel Vladimir J. Lumelsky Accounting for Limited Sensing in Real-time Obstacle Avoidance for Mobile Robots. 4356-4361 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1302403 db/conf/icra/icra2004-5.html#AlvarezGASL04