Nicolas Cuperlier Mathias Quoy Philippe Laroque Philippe Gaussier Transition Cells and Neural Fields for Navigation and Planning. 346-355 2005 conf/iwinac/2005-1 IWINAC (1) http://dx.doi.org/10.1007/11499220_36 db/conf/iwinac/iwinac2005-1.html#CuperlierQLG05