How to Learn an Unknown Environment I: The Rectilinear Case.

Xiaotie Deng Tiko Kameda Christos H. Papadimitriou How to Learn an Unknown Environment I: The Rectilinear Case. 215-245 1998 45 J. ACM 2 db/journals/jacm/jacm45.html#DengKP98 http://doi.acm.org/10.1145/274787.274788