@article{ToMuMuAlMoHu06,
  author={B. Tovar and L. Munoz and R. Murrieta-Cid and M. Alencastre and R. Monroy and S. Hutchinson},
  title={Planning Exploration Strategies for Simultaneous Localization and Mapping},
  journal={Journal on Robotics and Autonomous Systems},
  month={April},
  pages={314--331},
  volume=54,
  number=4,
  year={2006}}