@article{APo/Eff/2002,
author = "Poncela Gonz{\'a}lez, Alberto and P{\'e}rez Rodr{\'i}guez, Eduardo Javier and Bandera Rubio, Antonio Jes{\'u}s and Urdiales Garc{\'i}a, Cristina and Sandoval Hern{\'a}ndez, Francisco",
journal = "Robotics and Autonomous Systems, Vol. 41, No. 1",
pages = "pp. 23-41",
title = "{E}fficient integration of metric and topological maps for directed exploration of unknow environments",
year = "2002",
}