Rapid Deployment of Mobile Robots Under Temporal, Performance, Perception, and Resource Constraints,

J. L. S. Rincon, P. Tokekar, V. Kumar, and S. Carpin, “Rapid Deployment of Mobile Robots Under Temporal, Performance, Perception, and Resource Constraints,” IEEE Robotics and Automation Letters, vol. 2, iss. 4, pp. 2016-2023, 2017.