Zhuang Fu Yanzheng Zhao Zhi-yuan Qian Qixin Cao Wall-climbing Robot Path Planning for Testing Cylindrical Oilcan Weld Based on Voronoi Diagram. 2749-2753 2006 IROS http://dx.doi.org/10.1109/IROS.2006.282001 conf/iros/2006 db/conf/iros/iros2006.html#FuZQC06