Mohamed Aissani Abdelhamid Mellouk Nadjib Badache Brahim Saidani An efficient real-time routing with presence of concave voids in wireless sensor networks. 186-190 2009 IWCMC http://doi.acm.org/10.1145/1582379.1582421 conf/iwcmc/2009 db/conf/iwcmc/iwcmc2009.html#AissaniMBS09