@InProceedings{ZivkBakkKros2006,
 author    = {Z. Zivkovic and B. Bakker and B. Kr\"ose},
 title     = {Hierarchical Map Building and Planning based on Graph Partitioning},
 booktitle = {IEEE International Conference on Robotics and Automation},
 pages     = {803-809},
 year      = 2006,
 pdf       = {ftp://ftp.science.uva.nl/pub/computer-systems/aut-sys/reports/Zivkovic06ra.pdf},
}