@inproceedings{dornhege11ssrr,
   author = {Christian Dornhege and Alexander Kleiner},
   title = {A Frontier-Void-Based Approach for Autonomous Exploration in 3D},
   booktitle = {IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)},
   month = november,
   year = {2011},
   url =
    {http://www.informatik.uni-freiburg.de/~ki/papers/dornhege_etal_ssrr11.pdf}
}