@article{SaMuHu09,
  author={A. Sarmiento and R. Murrieta-Cid and S. Hutchinson},
  title={An Efficient Motion Strategy to Compute Expected-
  Time Locally Optimal Continuous Search Paths in Known Environments},
  journal={Journal of Advanced Robotics},
  month={October},
  pages={1533-1560},
  volume=23,
  number=12-13,
  year={2009}}