@inproceedings{SaMuHu03,
  author={A. Sarmiento and R. Murrieta-Cid and S. Hutchinson},
  title={An Efficient Strategy for Rapidly Finding an Object in a Polygonal World},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={1153-1158},
  year={2003}}