@inproceedings{VenturaA2014, title = {Towards Optimal Robot Navigation in Urban Homes}, author = {Ventura, R and Ahmad, A}, booktitle = {RoboCup 2014: Robot World Cup XVIII}, pages = {318-331}, series = {Lecture Notes in Computer Science ; 8992}, publisher = {Springer}, address = {Cham, Switzerland}, year = {2015}, doi = {10.1007/978-3-319-18615-3_26} }